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authorNicolas Schodet2013-05-08 19:18:46 +0200
committerNicolas Schodet2013-05-08 19:18:46 +0200
commitee07cf05d3e699bdca7c807c4d09abddf5b2fba7 (patch)
tree125c4b1f5492659f4e327708ac6ddce6a118b2a6 /digital/io-hub/src/apbirthday
parent0c3a23a17ee2426b4234af2cc60cbbe0fe7be0ee (diff)
digital/io-hub/src/apbirthday: get opponent position from beacon
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 790f381b..909bbc31 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -170,6 +170,13 @@ Robot::main_loop ()
Position robot_pos = asserv.get_position ();
beacon.send_position (robot_pos.v);
// Look for obstacles.
+ for (int i = 0; i < Beacon::pos_nb; i++)
+ {
+ vect_t pos;
+ int trust = beacon.get_position (i, pos);
+ if (trust > 70)
+ obstacles.add (pos);
+ }
if (usdist_control_.update ())
{
radar_.update (robot_pos, obstacles);