From 1bcff7dbcbb284f5564ac708292b23fd447395a9 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sat, 3 May 2008 11:15:31 +0200 Subject: * digital/io/src * top FSM - change the position where to drop balls at the gutter (to prevent the order of dropped balls to change) ; - change the order of balls taken at the distributor: first two samples with three ice, then three samples with two ice. * get samples FSM - manage the case where the arm passed the noted position in the state where it should not (because the arm was blocked) ; - add some debug messages. * gutter FSM - reduce the time spent to drop the balls at the gutter. * move FSM - update the algorithm to avoid obstacle: when a obstacle is seen, first way, then if it is not present anymore continue, otherwise, try to find an alternative path; if none found, wait again. * chrono - near end of the match time increased to 83s. --- digital/io/src/gutter_cb.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'digital/io/src/gutter_cb.c') diff --git a/digital/io/src/gutter_cb.c b/digital/io/src/gutter_cb.c index 5abf7bcb..8d11a63a 100644 --- a/digital/io/src/gutter_cb.c +++ b/digital/io/src/gutter_cb.c @@ -40,7 +40,7 @@ uint16_t gutter_wait_cycle_; * Count of cycles to wait before we estimate all the balls have been dropped * into the gutter. A cycle normally last 4.4ms. */ -#define GUTTER_WAIT_FOR_BALLS_TO_DROP 1126 +#define GUTTER_WAIT_FOR_BALLS_TO_DROP 300 /* * ROTATE_REAR_SIDE_TO_GUTTER =bot_move_succeed=> -- cgit v1.2.3