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authorNicolas Schodet2011-06-25 16:39:27 +0200
committerNicolas Schodet2011-06-25 16:39:27 +0200
commita42a9f908fc0cad8760ecda5670a6b1322d56a83 (patch)
tree843ca3e45c270854cee739dea976a6be601ebb94
parentee469d47e6520647423f91eb9a29aa57ca4fb74b (diff)
Revert "digital/io-hub/src/robospierre: disable pawn sensors when tower dropped"
This reverts commit 0b9ae480b928a24664bfd30edcd17d760db593d1.
-rw-r--r--digital/io-hub/src/robospierre/pawn_sensor.c6
-rw-r--r--digital/io-hub/src/robospierre/pawn_sensor.h4
-rw-r--r--digital/io-hub/src/robospierre/top.c2
3 files changed, 0 insertions, 12 deletions
diff --git a/digital/io-hub/src/robospierre/pawn_sensor.c b/digital/io-hub/src/robospierre/pawn_sensor.c
index faeee879..cc9e6900 100644
--- a/digital/io-hub/src/robospierre/pawn_sensor.c
+++ b/digital/io-hub/src/robospierre/pawn_sensor.c
@@ -214,12 +214,6 @@ pawn_sensor_bumper_enable (uint8_t enabled)
pawn_sensor_global.bumper_enabled = enabled;
}
-void
-pawn_sensor_bumper_wait (uint16_t wait)
-{
- pawn_sensor_global.bump_wait = wait;
-}
-
vect_t
pawn_sensor_get_last_bumped (void)
{
diff --git a/digital/io-hub/src/robospierre/pawn_sensor.h b/digital/io-hub/src/robospierre/pawn_sensor.h
index 9c76f77a..8d6d2651 100644
--- a/digital/io-hub/src/robospierre/pawn_sensor.h
+++ b/digital/io-hub/src/robospierre/pawn_sensor.h
@@ -38,10 +38,6 @@ pawn_sensor_update (void);
void
pawn_sensor_bumper_enable (uint8_t enabled);
-/** Temporarily disable bumpers. */
-void
-pawn_sensor_bumper_wait (uint16_t wait);
-
/** Return last bumped pawn. */
vect_t
pawn_sensor_get_last_bumped (void);
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
index 3d39f60a..7732fb50 100644
--- a/digital/io-hub/src/robospierre/top.c
+++ b/digital/io-hub/src/robospierre/top.c
@@ -434,7 +434,6 @@ FSM_TRANS (TOP_DROP_CLEARING, robot_move_success,
element, TOP_GOING_TO_ELEMENT)
{
clamp_drop_clear ();
- pawn_sensor_bumper_wait (3 * 250);
switch (top_decision ())
{
default: return FSM_NEXT (TOP_DROP_CLEARING, robot_move_success, drop);
@@ -447,7 +446,6 @@ FSM_TRANS (TOP_DROP_CLEARING, robot_move_failure,
element, TOP_GOING_TO_ELEMENT)
{
clamp_drop_clear ();
- pawn_sensor_bumper_wait (3 * 250);
switch (top_decision ())
{
default: return FSM_NEXT (TOP_DROP_CLEARING, robot_move_failure, drop);