Merge branch 'master' of github.com:DarkaMaul/osrobot

DarkaMaul · Jan 23, 2017 · 2d0f8aa · 2d0f8aa
2 parents c186831 + a3861bc
commit 2d0f8aa
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Showing 4 changed files with 10 additions and 3 deletions.
diff --git a/includes/config.h b/includes/config.h
@@ -45,7 +45,7 @@
 //Grabing constants
 #define GRAB_POSITION 23
 #define MAX_GRABBING_SPEED 550
-#define RELEASING_SPEED 400
+#define RELEASING_SPEED 1050
 #define INIT_GRAB_POSITION -15
 
 

diff --git a/src/main.c b/src/main.c
@@ -122,6 +122,11 @@ int main(int argc, char *argv[])
                 s->sock =  -1;
                 game_wrapper(s, p);
                 break;
+            case 7:
+                init_robot(s);
+                grab(s, MAX_GRABBING_SPEED);
+                getchar();
+                release(s, RELEASING_SPEED);
         }
     }
     //Close external ressources

diff --git a/src/motors.c b/src/motors.c
@@ -75,13 +75,15 @@ int release(state *s, int speed)
         log_this(s, "[%s:release] Releasing failed already in release position\n", __FILE__);
         return -1;
     }
+    sleep(5);
     ev3_set_speed_sp(s->grabmotor, speed);
-    ev3_set_ramp_up_sp(s->grabmotor, 7000);
+    ev3_set_ramp_up_sp(s->grabmotor, 5500);
     ev3_set_position_sp(s->grabmotor, -7);
     ev3_command_motor_by_name(s->grabmotor, "run-to-abs-pos");
     while (ev3_motor_state(s->grabmotor) & MOTOR_RUNNING);
     //log_this(s, "Motor %d on port %c opened, assigned and reseted\n", motor->motor_nr, motor->port);
     ev3_set_ramp_up_sp(s->grabmotor, 0);
+    sleep(4);
     return 0;
 }
 

diff --git a/src/utilspositions.c b/src/utilspositions.c
@@ -167,7 +167,7 @@ void init_main_positions(state *s, mainpos *p){
     //printf("%d\n",side);
     position s_fr_init={.x = (S_FR_S_0_X + S_FR_S_2_X)/2,.y = (S_FR_S_0_Y + S_FR_S_2_Y )/2 };
     position s_fr_ballareaposition = {.x = S_BA_3_X, .y = S_BA_3_Y};
-    position s_fr_endingposition = {.x = (S_FR_E_0_X + S_FR_E_2_X)/2 - ROBOT_WIDTH,.y = (S_FR_E_0_Y + S_FR_E_2_Y )/2 };
+    position s_fr_endingposition = {.x = (S_FR_E_0_X + S_FR_E_2_X)/2 ,.y = (S_FR_E_0_Y + S_FR_E_2_Y )/2 };
 
     position l_fr_init = {.x = side*(L_FR_S_0_X + L_FR_S_2_X)/2, .y = (L_FR_S_0_Y + L_FR_S_2_Y)/2};
     position l_fr_dodgefirst = {.x = side*(L_O1_2_X + BIG_ARENA_MAX_X + ROBOT_WIDTH*1.5)/2, .y = L_O1_2_Y + L_FR_S_0_Y};