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authorNicolas Schodet2011-06-04 03:37:57 +0200
committerNicolas Schodet2011-06-04 03:41:45 +0200
commitd5c9ae0c043887ac7b68f13aa300761fcbb0b008 (patch)
tree5681d78bf0dd83e64326498973ae2ba4056831bd
parent61f927014ae986ab1aabec520853beb306d4464a (diff)
digital/io-hub: do not detect tower in green zone
-rw-r--r--digital/io-hub/src/robospierre/clamp.c6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index e385d876..cb6d9e3b 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -30,6 +30,7 @@
#include "contact.h"
#include "bot.h"
#include "element.h"
+#include "playground.h"
#define FSM_NAME AI
#include "fsm.h"
@@ -489,6 +490,11 @@ clamp_tower_check (void)
&& ctx.pos_current == from
&& logistic_global.slots[from] == ELEMENT_PAWN)
{
+ /* Check for green zone. */
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ if (robot_pos.v.x < 450 || robot_pos.v.x > PG_WIDTH - 450)
+ return 0;
/* Look tower contact. */
uint8_t contact_tower;
if (from == CLAMP_SLOT_FRONT_BOTTOM)