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authorNicolas Schodet2012-03-21 00:46:03 +0100
committerNicolas Schodet2012-03-21 18:56:51 +0100
commit1e7c8a8a9811c45091e6c471482086113f059f40 (patch)
treed7faa80dd162799c394ec23925cc53b6dbff008e /digital/io/src/move.c
parent0feb542a8cf7630a5d442387727414f5251aad83 (diff)
parentdcb79f383269440ec2c5a54b6d7792fbb0110d5a (diff)
Merge branch 'master' into efrei-robotique
Conflicts: digital/mimot/src/dirty/aux.c digital/mimot/src/dirty/aux.h digital/mimot/src/dirty/contacts.h digital/mimot/src/dirty/main.c digital/mimot/src/dirty/models.host.c digital/mimot/src/dirty/twi_proto.c digital/mimot/tools/mimot/init.py
Diffstat (limited to 'digital/io/src/move.c')
-rw-r--r--digital/io/src/move.c6
1 files changed, 3 insertions, 3 deletions
diff --git a/digital/io/src/move.c b/digital/io/src/move.c
index 60db0272..81c554fc 100644
--- a/digital/io/src/move.c
+++ b/digital/io/src/move.c
@@ -397,7 +397,7 @@ move_MOVE_MOVING_bot_move_failed_MOVE_MOVING_BACKWARD_TO_TURN_FREELY ()
position_t robot_pos;
asserv_get_position (&robot_pos);
vect_t obstacle_pos;
- int16_t dist = asserv_get_last_moving_direction () == 1
+ int16_t dist = asserv_get_last_moving_direction () == DIRECTION_FORWARD
? BOT_SIZE_FRONT + MOVE_REAL_OBSTACLE_RADIUS
: -(BOT_SIZE_BACK + MOVE_REAL_OBSTACLE_RADIUS);
vect_from_polar_uf016 (&obstacle_pos, dist, robot_pos.a);
@@ -405,8 +405,8 @@ move_MOVE_MOVING_bot_move_failed_MOVE_MOVING_BACKWARD_TO_TURN_FREELY ()
path_obstacle (0, obstacle_pos, MOVE_OBSTACLE_RADIUS, 0,
MOVE_OBSTACLE_VALIDITY);
/* Move backward to turn freely. */
- asserv_move_linearly (asserv_get_last_moving_direction () == 1 ?
- - 300 : 300);
+ asserv_move_linearly (asserv_get_last_moving_direction ()
+ == DIRECTION_FORWARD ? -300 : 300);
}
FSM_TRANS (MOVE_MOVING,