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Diffstat (limited to 'digital/io-hub/src/guybrush/main.c')
-rw-r--r--digital/io-hub/src/guybrush/main.c6
1 files changed, 5 insertions, 1 deletions
diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c
index be551e9a..63366c13 100644
--- a/digital/io-hub/src/guybrush/main.c
+++ b/digital/io-hub/src/guybrush/main.c
@@ -75,6 +75,10 @@ uint8_t main_obstacles_nb;
/** Global demo mode flag. */
uint8_t main_demo;
+/** Global US distance sensor activation flag. Warning: US sensors can not be
+ * deactivated once activated or you will get outdated values. */
+uint8_t main_usdist;
+
/** FSM debug mode. */
enum
{
@@ -242,7 +246,7 @@ main_loop (void)
proto_accept (uart0_getc ());
/* Update IO modules. */
contact_update ();
- if (usdist_update ())
+ if ((main_demo || main_usdist) && usdist_update ())
{
position_t robot_pos;
asserv_get_position (&robot_pos);