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authorNicolas Schodet2012-05-20 00:00:57 +0200
committerNicolas Schodet2012-05-20 01:04:10 +0200
commit210f4e49a151769abd13357546cb7133d881acd6 (patch)
treed76e9623ddb05a63a31d26a5559ec4fd48866298 /digital/io-hub/src
parent071ec7296b1e11a2aadfe1b7ba62059e38d96c3a (diff)
digital/io-hub/src/guybrush: change unload position
Diffstat (limited to 'digital/io-hub/src')
-rw-r--r--digital/io-hub/src/guybrush/strat.c6
-rw-r--r--digital/io-hub/src/guybrush/top.c6
2 files changed, 7 insertions, 5 deletions
diff --git a/digital/io-hub/src/guybrush/strat.c b/digital/io-hub/src/guybrush/strat.c
index 36cfc828..2f81688a 100644
--- a/digital/io-hub/src/guybrush/strat.c
+++ b/digital/io-hub/src/guybrush/strat.c
@@ -77,9 +77,11 @@ static const struct strat_place_t strat_place[STRAT_PLACE_NB] = {
{ { PG_MIRROR_X (PG_CAPTAIN_ROOM_LENGTH_MM),
PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM / 2 },
0, STRAT_DECISION_UNLOAD },
- { { BOT_SIZE_RADIUS + 60, PG_LENGTH / 2 },
+ { { (PG_CAPTAIN_ROOM_WIDTH_MM + PG_HOLD_NORTH_X) / 2,
+ (PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM + PG_HOLD_NORTH_Y) / 2 - 75 },
1500, STRAT_DECISION_UNLOAD },
- { { PG_MIRROR_X (BOT_SIZE_RADIUS + 60), PG_LENGTH / 2 },
+ { { PG_MIRROR_X ((PG_CAPTAIN_ROOM_WIDTH_MM + PG_HOLD_NORTH_X) / 2),
+ (PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM + PG_HOLD_NORTH_Y) / 2 - 75 },
1500, STRAT_DECISION_UNLOAD },
{ { PG_WIDTH / 2 - PG_TOTEM_X_OFFSET_MM,
PG_LENGTH / 2 + PATH_PEANUT_CLEAR_MM }, 300, STRAT_DECISION_TOTEM },
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index a8c4c5c3..2bc6c8e1 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -234,7 +234,7 @@ top_go_unload (void)
if (pos.v.y > PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM)
pos.a = PG_A_DEG (0);
else
- pos.a = PG_A_DEG (70);
+ pos.a = PG_A_DEG (45);
move_start (pos, 0);
}
@@ -663,12 +663,12 @@ top_do_unload (void)
}
FSM_TRANS (TOP_UNLOAD_GOING, move_success,
- hold, TOP_DECISION,
+ hold, TOP_UNLOAD_GOING_BACK,
captain, TOP_UNLOAD_GOING_BACK)
{
if (top.decision_pos.y < PG_LENGTH - PG_CAPTAIN_ROOM_LENGTH_MM)
{
- top_do_unload ();
+ asserv_move_linearly (-100);
return FSM_NEXT (TOP_UNLOAD_GOING, move_success, hold);
}
else