Make front box movement clear the switch.
Change-Id: I8d3fbf7fb8b8154ddc7e7953f345c166eaca877e
diff --git a/y2018/control_loops/python/graph_generate.py b/y2018/control_loops/python/graph_generate.py
index 607613c..a976145 100644
--- a/y2018/control_loops/python/graph_generate.py
+++ b/y2018/control_loops/python/graph_generate.py
@@ -405,13 +405,13 @@
0.732, 2.268, circular_index=-1)
front_middle1_box = to_theta_with_circular_index(
0.878, 1.885, circular_index=-1)
-front_low_box = to_theta_with_circular_index(0.926, 1.522, circular_index=-1)
+front_low_box = to_theta_with_circular_index(0.926, 1.542, circular_index=-1)
back_high_box = to_theta_with_circular_index(-0.75, 2.48, circular_index=0)
back_middle2_box = to_theta_with_circular_index(
-0.732, 2.268, circular_index=0)
back_middle1_box = to_theta_with_circular_index(
-0.878, 1.885, circular_index=0)
-back_low_box = to_theta_with_circular_index(-0.926, 1.522, circular_index=0)
+back_low_box = to_theta_with_circular_index(-0.926, 1.542, circular_index=0)
front_switch = to_theta_with_circular_index(0.88, 0.967, circular_index=-1)
back_switch = to_theta_with_circular_index(-0.88, 0.967, circular_index=-2)
@@ -435,6 +435,9 @@
ready_above_box_c1 = to_theta((0.38, 0.33), circular_index=-1)
ready_above_box_c2 = to_theta((0.42, 0.51), circular_index=-1)
+front_switch_c1 = numpy.array([1.903841, -0.622351])
+front_switch_c2 = numpy.array([1.903841, -0.622351])
+
points = [(ready_above_box, "ReadyAboveBox"),
(tall_box_grab, "TallBoxGrab"),
(short_box_grab, "ShortBoxGrab"),
@@ -474,9 +477,10 @@
unnamed_segments = [
AngleSegment(neutral, back_switch),
- XYSegment(neutral, front_switch),
- XYSegment(neutral, front_low_box),
+ #XYSegment(neutral, front_switch),
+ SplineSegment(neutral, front_switch_c1, front_switch_c2, front_switch),
+ XYSegment(neutral, front_low_box),
XYSegment(up, front_high_box),
XYSegment(up, front_middle2_box),
XYSegment(up, front_middle1_box),