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test go home

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This commit is contained in:
acki
2025-05-29 16:56:53 -04:00
parent 69c8e9acea
commit 745792e441
2 changed files with 4 additions and 4 deletions
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4
src/modelec_strat/data/config.xml
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@@ -39,12 +39,12 @@
</home> </home>
<spawn> <spawn>
<yellow> <yellow>
<top x="375" y="1775" theta="-1.5708" /> <top x="375" y="1600" theta="-1.5708" />
<side x="2775" y="875" theta="3.1415" /> <side x="2775" y="875" theta="3.1415" />
<bottom x="1225" y="200" theta="1.5708" /> <bottom x="1225" y="200" theta="1.5708" />
</yellow> </yellow>
<blue> <blue>
<top x="2625" y="1775" theta="-1.5708" /> <top x="2625" y="1600" theta="-1.5708" />
<side x="225" y="875" theta="0" /> <side x="225" y="875" theta="0" />
<bottom x="1775" y="200" theta="1.5708" /> <bottom x="1775" y="200" theta="1.5708" />
</blue> </blue>

4
src/modelec_strat/src/missions/test.go_home_mission.cpp
View File

@@ -19,7 +19,7 @@ namespace Modelec
auto t = nav_->GetSpawn(); auto t = nav_->GetSpawn();
nav_->GoTo(t.x, 1200, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE); nav_->GoTo(t.x, t.y - 800, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
go_home_time_ = node_->now(); go_home_time_ = node_->now();
@@ -44,7 +44,7 @@ namespace Modelec
{ {
auto t = nav_->GetSpawn(); auto t = nav_->GetSpawn();
nav_->GoTo(t.x, 1700, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE); nav_->GoTo(t.x, t.y, -M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
step_ = GO_HOME; step_ = GO_HOME;
} }