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authorNicolas Schodet2012-05-15 22:42:39 +0200
committerNicolas Schodet2012-05-15 23:13:57 +0200
commitf0249544e3a7d22e249b0323b70e5d18e5a577ca (patch)
tree290848520b4d4ddcb2e702277c70a6b8a1339649
parent7e19e14659351cc73a929cafbb57ed1187e92115 (diff)
digital/io-hub/src/guybrush: add 2 extra nodes to escape from unloading area
-rw-r--r--digital/io-hub/src/guybrush/path.c12
1 files changed, 9 insertions, 3 deletions
diff --git a/digital/io-hub/src/guybrush/path.c b/digital/io-hub/src/guybrush/path.c
index 86932ac3..cf55faf3 100644
--- a/digital/io-hub/src/guybrush/path.c
+++ b/digital/io-hub/src/guybrush/path.c
@@ -64,7 +64,7 @@
#define PATH_GRID_NODES_NB (PATH_COLUMNS_NB * PATH_COLUMN_NODES_NB)
/** Number of extra nodes not in the grid. */
-#define PATH_EXTRA_NODES_NB 4
+#define PATH_EXTRA_NODES_NB 6
/** Number of fixed nodes. */
#define PATH_FIXED_NODES_NB (PATH_GRID_NODES_NB + PATH_EXTRA_NODES_NB)
@@ -148,8 +148,10 @@ static const struct path_node_t path_nodes[PATH_NODES_NB] = {
{ 2 }, /* 36 */
{ 2 }, /* 37 */
{ 2 }, /* 38 */
- { 1 }, /* 39 dst node. */
- { 1 }, /* 40 src node. */
+ { 2 }, /* 39 */
+ { 2 }, /* 40 */
+ { 1 }, /* 41 dst node. */
+ { 1 }, /* 42 src node. */
/* }}} */
};
@@ -183,6 +185,10 @@ static const vect_t path_extra_nodes[PATH_EXTRA_NODES_NB] = {
PG_TOTEM_Y - PATH_TOTEM_CLEAR_MM / 2 },
{ PG_TOTEM_RIGHT_X + PATH_TOTEM_CLEAR_MM,
PG_TOTEM_Y + PATH_TOTEM_CLEAR_MM / 2 },
+ { BOT_SIZE_RADIUS + 30,
+ PG_TOTEM_Y + PATH_TOTEM_CLEAR_MM / 2 },
+ { PG_MIRROR_X (BOT_SIZE_RADIUS + 30),
+ PG_TOTEM_Y + PATH_TOTEM_CLEAR_MM / 2 },
};
/** Compute position of a node. */