Diff: StateMachine.cpp

Revision:

4:1c821a19876f

Parent:

0:351a2fb21235

Child:

5:957580f33e52

--- a/StateMachine.cpp	Fri May 18 13:19:17 2018 +0000
+++ b/StateMachine.cpp	Fri May 18 13:40:59 2018 +0000
@@ -75,10 +75,14 @@
                 taskList.push_back(new TaskWait(controller, 0.5f));
                 
                 
-                taskList.push_back(new TaskMoveToWaypoint(controller, 1.0f, 0.0f, 0.2f));
-                taskList.push_back(new TaskMoveToWaypoint(controller, 1.0f, 1.0f, 0.2f));
-                taskList.push_back(new TaskMoveToWaypoint(controller, 0.0f, 1.0f, 0.2f));
-                taskList.push_back(new TaskMoveTo(controller, 0.0f, 0.0f, -1.5f, 0.2f, 0.1f));
+                   // move to waypoints
+                taskList.push_back(new TaskMoveToWaypoint(controller,2,-0.3,0.2f));
+                taskList.push_back(new TaskMoveToWaypoint(controller,2.4,0.3,0.2f));
+                taskList.push_back(new TaskMoveToWaypoint(controller,3,1.8,0.2f));
+                taskList.push_back(new TaskMoveToWaypoint(controller,2,0.8,0.2f));
+                taskList.push_back(new TaskMoveToWaypoint(controller,0.8,1.2,0.2f));
+                taskList.push_back(new TaskMoveToWaypoint(controller,0.8,1.2,0.2f));
+                taskList.push_back(new TaskMoveTo(controller, 0.4, 0.5f, -3.14f, 0.2f, 0.1f));
                 
                 state = PROCESSING_TASKS;
             }