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authorNicolas Schodet2013-04-08 22:03:33 +0200
committerNicolas Schodet2013-04-10 00:42:59 +0200
commitbcaf3117b0e0c7c4dc8bf5442637d2639a92989a (patch)
tree0b99b893cd1cbb9b3c5c0ac2f3a2b89b97453a97 /digital/io-hub/src/apbirthday/strat.cc
parent7b61cbeddc510f88ad014dbb3c4fa6517f0766d3 (diff)
digital/io-hub/src/apbirthday: detect obstacles when following the cake
Diffstat (limited to 'digital/io-hub/src/apbirthday/strat.cc')
-rw-r--r--digital/io-hub/src/apbirthday/strat.cc4
1 files changed, 2 insertions, 2 deletions
diff --git a/digital/io-hub/src/apbirthday/strat.cc b/digital/io-hub/src/apbirthday/strat.cc
index 9c08f43d..e93eaeff 100644
--- a/digital/io-hub/src/apbirthday/strat.cc
+++ b/digital/io-hub/src/apbirthday/strat.cc
@@ -37,12 +37,12 @@ Strat::decision_candles (CandlesDecision &decision, uint16_t robot_angle)
// TODO: this is a stub.
if (robot_angle > G_ANGLE_UF016_DEG (-90))
{
- decision.direction = Asserv::BACKWARD;
+ decision.dir_sign = -1;
decision.end_angle = G_ANGLE_UF016_DEG (180 + 180. / 6);
}
else
{
- decision.direction = Asserv::FORWARD;
+ decision.dir_sign = 1;
decision.end_angle = G_ANGLE_UF016_DEG (-180. / 6);
}
return true;