From 6e52b596bde02b5096748dbbf4a654200452c9e4 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Wed, 28 May 2025 18:48:32 -0400
Subject: [PATCH] banner

---
 .../modelec_strat/missions/banner_mission.hpp      |  2 +-
 src/modelec_strat/src/missions/banner_mission.cpp  | 14 ++++++++------
 2 files changed, 9 insertions(+), 7 deletions(-)

diff --git a/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp b/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
index 42300ea..9f7da7d 100644
--- a/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
+++ b/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
@@ -25,8 +25,8 @@ namespace Modelec
 
         enum Step
         {
-            DEPLOY_BANNER,
             GO_TO_FRONT,
+            DEPLOY_BANNER,
             GO_FORWARD,
             DONE
         } step_;
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index 5bf199e..88d412c 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -5,7 +5,7 @@
 namespace Modelec
 {
     BannerMission::BannerMission(const std::shared_ptr<NavigationHelper>& nav,
-                                 const std::shared_ptr<ActionExecutor>& action_executor) : step_(DEPLOY_BANNER),
+                                 const std::shared_ptr<ActionExecutor>& action_executor) : step_(GO_TO_FRONT),
         status_(MissionStatus::READY), nav_(nav), action_executor_(action_executor)
     {
     }
@@ -20,7 +20,7 @@ namespace Modelec
 
         spawn_ = nav_->GetSpawn();
 
-        action_executor_->DeployBanner();
+        nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 5, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
         status_ = MissionStatus::RUNNING;
     }
@@ -44,22 +44,24 @@ namespace Modelec
 
         switch (step_)
         {
-        case DEPLOY_BANNER:
+        case GO_TO_FRONT:
             {
-                nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 5, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+                action_executor_->DeployBanner();
 
-                step_ = GO_TO_FRONT;
+                step_ = DEPLOY_BANNER;
             }
 
             break;
 
-        case GO_TO_FRONT:
+        case DEPLOY_BANNER:
             {
                 nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 600, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
                 step_ = GO_FORWARD;
             }
+
             break;
+
         case GO_FORWARD:
             {
                 std_msgs::msg::Int64 msg;