Revision 740
fixed speeds, stop distances for bfs
orbit_fsm.c | ||
---|---|---|
106 | 106 |
if (orbit_state == ORBIT_INSERTION && |
107 | 107 |
(orbit_bom == ORBIT_DIRECTION || (orbit_bom + 1) == ORBIT_DIRECTION || (orbit_bom - 1) == ORBIT_DIRECTION)) |
108 | 108 |
orbit_state = ORBIT_ORBITING; // orbit achieved |
109 |
if (orbit_state == ORBIT_ORBITING && ((orbit_d2 < ORBIT_DISTANCE) |
|
109 |
if (orbit_state == ORBIT_ORBITING && ((orbit_d2 < ORBIT_STOP_DISTANCE)
|
|
110 | 110 |
|| (orbit_theta >= orbit_theta_stop))) |
111 | 111 |
orbit_state = ORBIT_STOP; // orbit obstructed |
112 | 112 |
|
... | ... | |
127 | 127 |
case(ORBIT_INSERTION): orb_set_color(GREEN); |
128 | 128 |
// rotate into orbit, perpendicular to other robot |
129 | 129 |
orbit_pControl = -ORBIT_DIRECTION*10; |
130 |
move(ORBIT_STRAIGHT_SPEED/3,orbit_pControl);
|
|
130 |
move(ORBIT_STRAIGHT_SPEED/2,orbit_pControl);
|
|
131 | 131 |
break; |
132 | 132 |
|
133 | 133 |
case(ORBIT_ORBITING): orb_set_color(BLUE); |
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