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authorNicolas Schodet2012-05-16 20:56:39 +0200
committerNicolas Schodet2012-05-16 21:01:45 +0200
commit28ea3c171495aef1b13ef6af28e3b65c9277b006 (patch)
treeeff7bd6b4f10a2024ac24967e89764e9047404ae /digital/io-hub/src/guybrush/top.c
parent1d00b79b1e179cf947d915ca2033ce690ed5b7a5 (diff)
digital/io-hub/src/guybrush: clean load nearer from the totem
Diffstat (limited to 'digital/io-hub/src/guybrush/top.c')
-rw-r--r--digital/io-hub/src/guybrush/top.c2
1 files changed, 1 insertions, 1 deletions
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index 540d0385..82652152 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -269,7 +269,7 @@ FSM_TRANS (TOP_TOTEM_CLEAN_APPROACHING, robot_move_failure,
FSM_TRANS (TOP_TOTEM_CLEAN_CATCH_WAITING, clamps_ready,
TOP_TOTEM_CLEAN_GOING_BACK)
{
- int16_t move = top.totem_distance - BOT_SIZE_LOWER_CLAMP_FRONT - 240;
+ int16_t move = top.totem_distance - BOT_SIZE_LOADING_FRONT - 30;
top.totem_distance -= move;
asserv_move_linearly (move);
return FSM_NEXT (TOP_TOTEM_CLEAN_CATCH_WAITING, clamps_ready);