From 0a8fcadcf7a0d1ffdf5909745988e84caf802b9f Mon Sep 17 00:00:00 2001
From: BlubbFish <git@blubbfish.net>
Date: Fri, 4 Dec 2015 14:25:32 +0000
Subject: [PATCH] last pos

---
 AdvancedServo-simple/Program.cs         |  9 ++++----
 AdvancedServo-simple/Robots/PaintBot.cs | 30 ++++++++++---------------
 2 files changed, 17 insertions(+), 22 deletions(-)

diff --git a/AdvancedServo-simple/Program.cs b/AdvancedServo-simple/Program.cs
index 2a7ea0b..2de0edf 100644
--- a/AdvancedServo-simple/Program.cs
+++ b/AdvancedServo-simple/Program.cs
@@ -34,9 +34,9 @@ namespace ebbits {
     static void Main(string[] args) {
       Logger.LogSerial = false;
       MainArduino a = new MainArduino("COM50");
-      AbstractRobot l = new LaserBot(169861, a);
+      //AbstractRobot l = new LaserBot(169861, a);
       AbstractRobot p = new PaintBot(169889, a);
-      AbstractRobot g = new GlassBot(169887);
+      //AbstractRobot g = new GlassBot(169887);
 
       Console.WriteLine("All Engaged. Press Key to Start.");
       Console.ReadLine();
@@ -62,7 +62,7 @@ namespace ebbits {
         a.measureAndStop('r', 1);
 
         Logger.Message("Welding");
-        l.run();
+        Thread.Sleep(1000);//l.run();
         
         Logger.Message("Move from Welding to Paint Pos");
         a.trainMove(68);
@@ -70,13 +70,14 @@ namespace ebbits {
 
         Logger.Message("Paint");
         p.run();
+        Console.ReadLine();
 
         Logger.Message("Move from Paint to Glas Pos");
         a.trainMove(68);
         a.measureAndStop('r', 3);
 
         Logger.Message("Glas");
-        g.run();
+        Thread.Sleep(1000);//g.run();
 
         Logger.Message("Move from Glas to Turn around Pos");
         a.trainMove(78);
diff --git a/AdvancedServo-simple/Robots/PaintBot.cs b/AdvancedServo-simple/Robots/PaintBot.cs
index 3609eb1..5456e8d 100644
--- a/AdvancedServo-simple/Robots/PaintBot.cs
+++ b/AdvancedServo-simple/Robots/PaintBot.cs
@@ -17,34 +17,28 @@ namespace ebbits.Robots {
       setStartPosition(new int[] {87, 175, 160, 92 }, 500);
 
       setPosition(new int[] {87, 153, 138, 92 }, 400);
-      setPosition(new int[] {44, 111, 161, 63 }, 200);
+      setPosition(new int[] {47, 101, 158, 48 }, 200);
       Arduino.setColor(MainArduino.RED);
-      setPosition(new int[] {90, -1, -1, -1 }, 50);
+      setPosition(new int[] {91, 122, 161, 78 }, 50);
       Arduino.setColor(MainArduino.OFF);
       setPosition(new int[] {-1, 140, -1, -1 }, 200);
       setPosition(new int[] {-1, 71, 55, 110 }, 200);
       setPosition(new int[] {-1, 43, 42, 175 }, 200);
       Arduino.setColor(MainArduino.RED);
-      setPosition(new int[] { 75, 37, 39, -1 }, 50);
+      setPosition(new int[] { 79, 42, 39, -1 }, 50);
       setPosition(new int[] { 68, 39, 30, -1 }, 50);
-      setPosition(new int[] { 68, 39, 30, -1 }, 50);
-      setPosition(new int[] { 60, 32, 20, -1 }, 50);
+      setPosition(new int[] { -1, 36, 20, -1 }, 50);
+      setPosition(new int[] { 64, -1, -1, -1 }, 50);
       Arduino.setColor(MainArduino.OFF);
-      setPosition(new int[] {-1, 63, 45, 150 }, 200);
-      setPosition(new int[] {50, 68, 76, 132 }, 200);
+      setPosition(new int[] {-1, 44, -1, 150 }, 200);
+      setPosition(new int[] {57, 68, 70, 139 }, 200);
       Arduino.setColor(MainArduino.WHITE);
-      setPosition(new int[] {44, -1, -1, 153 }, 100);
-      setPosition(new int[] {60, -1, -1, 164 }, 100);
-      setPosition(new int[] {58, -1, -1, 138 }, 100);
-      setPosition(new int[] {70, -1, -1, 150 }, 100);
-      setPosition(new int[] {60, -1, -1, 170 }, 100);
-      setPosition(new int[] {75, -1, -1, 175 }, 100);
-      setPosition(new int[] {77, -1, -1, 155 }, 100);
-      setPosition(new int[] {83, -1, -1, -1 }, 100);
-      setPosition(new int[] {-1, 77, 88, 162 }, 100);
+      setPosition(new int[] {53, 74, 79, 158 }, 50);
+      setPosition(new int[] {89, 86, 98, 150 }, 50);
+      setPosition(new int[] {-1, 75, 85, 143 }, 50);
+      setPosition(new int[] { 57, 68, 70, 139 }, 50);
       Arduino.setColor(MainArduino.OFF);
-      setPosition(new int[] { -1, 132, -1, -1 }, 250);
-      setPosition(new int[] { 87, 153, 138, 92 }, 400);
+      setPosition(new int[] { -1, 153, 138, 92 }, 400);
       setPosition(new int[] { 87, 175, 160, 92 }, 400);
 
       shutdownServo();