From f0249544e3a7d22e249b0323b70e5d18e5a577ca Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 15 May 2012 22:42:39 +0200 Subject: digital/io-hub/src/guybrush: add 2 extra nodes to escape from unloading area --- digital/io-hub/src/guybrush/path.c | 12 +++++++++--- 1 file changed, 9 insertions(+), 3 deletions(-) (limited to 'digital') 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. */ -- cgit v1.2.3