Diff: Processes/AI/ai.cpp

Revision:

89:dfe8c2ec5b88

Parent:

88:8850373c3f0d

Child:

90:e4164bb8c60e

--- a/Processes/AI/ai.cpp	Tue Apr 16 12:55:10 2013 +0000
+++ b/Processes/AI/ai.cpp	Tue Apr 16 13:19:17 2013 +0000
@@ -79,7 +79,7 @@
     motion::waypoint_flag_mutex.unlock();
     Thread::signal_wait(0x1); //wait until wp reached
     
-    Waypoint approach_wp = {2.2, 1.83/*1.85*/, (-3.0f/4.0f)*PI, 0.03, 0.05*PI, 32};
+    Waypoint approach_wp = {2.24, 1.83/*1.85*/, (-3.0f/4.0f)*PI, 0.03, 0.05*PI, 32};
     motion::waypoint_flag_mutex.lock();
     motion::setNewWaypoint(Thread::gettid(),&approach_wp); 
     motion::waypoint_flag_mutex.unlock();
@@ -118,6 +118,10 @@
             bot_target_phi -= 15.0/180*PI;
         }
         
+        // hack
+        if (own_colour==BLUE && i==0)
+            continue;
+        
         // set new wp
         mutable_cake_wp.x = 1.5-r*cos(phi);
         mutable_cake_wp.y = 2-r*sin(phi);