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-rw-r--r--digital/asserv/src/asserv/traj.c10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c
index ac81417e..abf6c730 100644
--- a/digital/asserv/src/asserv/traj.c
+++ b/digital/asserv/src/asserv/traj.c
@@ -154,16 +154,21 @@ traj_ftw (void)
speed = cs_main.speed_theta.slow;
if (!traj_backward)
{
+#ifdef CONTACT_FRONT_LEFT_IO
left = !IO_GET (CONTACT_FRONT_LEFT_IO);
right = !IO_GET (CONTACT_FRONT_RIGHT_IO);
+#endif
}
else
{
+#ifdef CONTACT_BACK_LEFT_IO
speed = -speed;
left = !IO_GET (CONTACT_BACK_LEFT_IO);
right = !IO_GET (CONTACT_BACK_RIGHT_IO);
+#endif
}
center = 0;
+#ifdef CONTACT_CENTER_IO
if (traj_use_center)
{
if (!IO_GET (CONTACT_CENTER_IO))
@@ -174,6 +179,7 @@ traj_ftw (void)
traj_center_delay--;
}
}
+#endif
speed_control_set_speed (&cs_main.speed_theta, speed);
speed_control_set_speed (&cs_main.speed_alpha, 0);
if (!left && !right)
@@ -274,6 +280,7 @@ traj_ptw_start (uint8_t backward, int32_t init_x, int32_t init_y,
static void
traj_gtd (void)
{
+#ifdef CONTACT_CENTER_IO
int8_t speed;
speed = cs_main.speed_theta.slow;
if (IO_GET (CONTACT_CENTER_IO))
@@ -289,15 +296,18 @@ traj_gtd (void)
control_state_finished (&cs_main.state);
traj_mode = TRAJ_DONE;
}
+#endif /* CONTACT_CENTER_IO */
}
/** Start go to the dispenser mode. */
void
traj_gtd_start (void)
{
+#ifdef CONTACT_CENTER_IO
traj_mode = TRAJ_GTD;
control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL,
CS_MODE_POS_CONTROL_ALPHA);
+#endif /* CONTACT_CENTER_IO */
}
/** Go to position mode. */