From 68a4ee8ebbe57f1744e156ab24318f00bf6f983a Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Mon, 27 Jul 2020 14:37:24 +0200
Subject: [PATCH] update looping and margin of error for lcoation detection

---
 ros2rag.goal/src/main/jastadd/Computation.jrag    | 4 ++--
 ros2rag.starter/src/main/jastadd/Computation.jrag | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/ros2rag.goal/src/main/jastadd/Computation.jrag b/ros2rag.goal/src/main/jastadd/Computation.jrag
index 446dfaa..86e866e 100644
--- a/ros2rag.goal/src/main/jastadd/Computation.jrag
+++ b/ros2rag.goal/src/main/jastadd/Computation.jrag
@@ -90,12 +90,12 @@ aspect Computation {
           .setOrientation(getOrientation())
           .setMode(plan.TrajectoryOuterClass.Trajectory.PlanningMode.FLUID)
           .build())
-      .setLoop(true)
+      .setLoop(false)
       .build();
   eq WorkStep.nextTrajectory() = getPredecessor().nextTrajectory();
   eq FinishedStep.nextTrajectory() = getPredecessor().nextTrajectory();
 
-  private static final double MoveToStep.DELTA = 0.1;
+  private static final double MoveToStep.DELTA = 0.005;
   private boolean MoveToStep.isNear(plan.TrajectoryOuterClass.Trajectory.Position one, plan.TrajectoryOuterClass.Trajectory.Position other) {
     return Math.abs(one.getX() - other.getX()) < DELTA &&
       Math.abs(one.getY() - other.getY()) < DELTA &&
diff --git a/ros2rag.starter/src/main/jastadd/Computation.jrag b/ros2rag.starter/src/main/jastadd/Computation.jrag
index d7c003c..d891952 100644
--- a/ros2rag.starter/src/main/jastadd/Computation.jrag
+++ b/ros2rag.starter/src/main/jastadd/Computation.jrag
@@ -23,6 +23,6 @@ aspect Computation {
   }
 
   syn double RobotArm.getAppropriateSpeed() {
-    return isInSafetyZone() ? 0.4d : 1.0d;
+    return isInSafetyZone() ? 0.2d : 0.9d;
   }
 }
-- 
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