From bb9d09ef1675d0668e9182a5b717afdcd92a95a7 Mon Sep 17 00:00:00 2001 From: acki Date: Fri, 30 May 2025 09:55:20 -0400 Subject: [PATCH] only stop --- simulated_pcb/odo.py | 4 ++-- src/modelec_strat/src/strat_fms.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/simulated_pcb/odo.py b/simulated_pcb/odo.py index cd71e23..a63e62a 100644 --- a/simulated_pcb/odo.py +++ b/simulated_pcb/odo.py @@ -56,12 +56,12 @@ class SimulatedPCB: self.waypoint_order.pop(0) del self.waypoints[wp['id']] else: - speed = min(150.0, distance) + speed = min(300.0, distance * 2) self.vx = speed * math.cos(angle) self.vy = speed * math.sin(angle) self.vtheta = max(-9.0, min(9.0, angle_diff * 2)) else: - speed = min(200.0, distance * 2) + speed = min(400.0, distance * 3) self.vx = speed * math.cos(angle) self.vy = speed * math.sin(angle) self.vtheta = 0.0 diff --git a/src/modelec_strat/src/strat_fms.cpp b/src/modelec_strat/src/strat_fms.cpp index e7a1660..920e45d 100644 --- a/src/modelec_strat/src/strat_fms.cpp +++ b/src/modelec_strat/src/strat_fms.cpp @@ -159,9 +159,9 @@ namespace Modelec { Transition(State::DO_PROMOTION, "Start promotion"); } - else + else if (elapsed.seconds() >= 100) { - Transition(State::DO_GO_HOME, "All missions done"); + Transition(State::STOP, "All missions done"); } /*if (elapsed.seconds() >= 2)