todo.txt

TODO MAIN ROBOT:

x escape form upper zone: increase clerance
x goto zone: enable sensors

x release stands: change xy to stand xy possition.
x name conf flags.
x goto clap after stand group 2
x goto work directly to cup 2 when no opp in the path
x FIXME: calib x on stand group 3.
x test pickup cup 3 (the middle one) with opp (due to HACK BUG, see below).
x BUG FIXED: goto home init after scape from upper zone.
x FIXME: rear tray i2c mode.
x FIXME: when 2 beacons are very close is measured as a beacon at 230mm --> improved and commented
x FIXME: BUG duea a HACK on obstacle detection when zone == STAND_GROUP_1
x FIXME: crash with RCA in Germany Cup --> Decremented SPEED_MIN in obstacle detection
x FIXME: special case, XXX WHY????????????????????
x Uncomment log mesagges of avoid
x Check: Esto es un bug que encontre que no se si esta arreglado en la ultima version. Revisalo porfa. Lo correcto es lo de la linea 1150 (intersect_platform_pt).
x secondary: pickup/release cup 2 sides
x El grande siempre deja en el cine de abajo, mandar mensaje antes al pequeño. El pequeño esta por decidir, de momento arriba para estorbar. 
x harvest cup 3: go backwards more.
x escape from upper zone: get space after !sucess
x release stands: add MANAGE_BLOCKING feature (for platform case).

- BUG: end obstacle pequeño (no me acuerdo de que era esto)
- Review of escapes of work on zone functions.
- big beacon test, also solved swizeland beacon?
- platform test
- release stands, prevent popocorn in mouth

TODO SECONDARY ROBOT:

x Release cup improvements: go a bit forward before open the clamp (work point changed).
x Pickup cup improvements: 2 sides
x Release cup improvements: 2 sides
x Put carpets: go directly in front of stairways (discarted), mark a done carpet.
x Actuators: 2 clamps

- Review of goto and work on zone functions.
- Close clapper: do a calib with wall before close the clapper (safest method).
- Add sensors for obstacle detection???
- Esto lo habeis pensado bien. No deberíamos esperar? Puede que hayamos dejado una alfombra y solo falte dejar la segunda.
- alfombras por partes