From f0e2ba053194d831ebfbc24c4d7f37b464a8946c Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Thu, 15 May 2025 19:36:30 -0400
Subject: [PATCH] some fix

---
 .../modelec_strat/missions/banner_mission.hpp    |  1 +
 .../src/missions/banner_mission.cpp              | 16 ++++++++--------
 2 files changed, 9 insertions(+), 8 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 41d6db8..42300ea 100644
--- a/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
+++ b/src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp
@@ -37,5 +37,6 @@ namespace Modelec
         rclcpp::Node::SharedPtr node_;
         rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr score_pub_;
         int mission_score_ = 0;
+        Point spawn_;
     };
 }
diff --git a/src/modelec_strat/src/missions/banner_mission.cpp b/src/modelec_strat/src/missions/banner_mission.cpp
index bcfc83c..aea943f 100644
--- a/src/modelec_strat/src/missions/banner_mission.cpp
+++ b/src/modelec_strat/src/missions/banner_mission.cpp
@@ -18,6 +18,8 @@ namespace Modelec
 
         score_pub_ = node_->create_publisher<std_msgs::msg::Int64>("/strat/score", 10);
 
+        spawn_ = nav_->GetSpawn();
+
         action_executor_->DeployBanner();
 
         status_ = MissionStatus::RUNNING;
@@ -34,23 +36,21 @@ namespace Modelec
         switch (step_)
         {
         case DEPLOY_BANNER:
+            {
+                nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 5, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
-            auto spawn = nav_->GetSpawn();
+                step_ = DEPLOY_BANNER;
+            }
 
-            nav_->GoTo(spawn.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 5, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
-
-            step_ = DEPLOY_BANNER;
             break;
 
         case GO_TO_FRONT:
             {
-                auto spawn = nav_->GetSpawn();
-
-                nav_->GoTo(spawn.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 150, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
+                nav_->GoTo(spawn_.x, (nav_->GetPathfinding()->robot_length_mm_ / 2) + 150, M_PI_2, true, Pathfinding::FREE | Pathfinding::WALL | Pathfinding::OBSTACLE);
 
                 step_ = GO_FORWARD;
-                break;
             }
+            break;
         case GO_FORWARD:
             {
                 std_msgs::msg::Int64 msg;