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authorNicolas Schodet2011-05-23 01:23:43 +0200
committerNicolas Schodet2011-05-23 01:25:09 +0200
commit6548d83aa655176ef939817e36cd05d0e6cfaccd (patch)
tree0809a505b345dd8855b8b332c76de4cf6c11ce29 /digital/io-hub/src/robospierre/main.c
parentc5b1353dea8a426d6eea043fb5aa78722f7b0bc5 (diff)
digital/{io,io-hub,ai}: add generic radar, add radar to robospierre
Diffstat (limited to 'digital/io-hub/src/robospierre/main.c')
-rw-r--r--digital/io-hub/src/robospierre/main.c13
1 files changed, 12 insertions, 1 deletions
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 8d51c469..6d32c28f 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -40,6 +40,7 @@
#include "pwm.h"
#include "contact.h"
+#include "radar.h"
#define FSM_NAME AI
#include "fsm.h"
@@ -62,6 +63,12 @@
/** Our color. */
enum team_color_e team_color;
+/** Obstacles positions, updated using radar module. */
+vect_t main_obstacles_pos[2];
+
+/** Number of obstacles in main_obstacles_pos. */
+uint8_t main_obstacles_nb;
+
/** Asserv stats counters. */
static uint8_t main_stats_asserv_, main_stats_asserv_cpt_;
@@ -178,7 +185,11 @@ main_loop (void)
contact_update ();
if (usdist_update ())
{
- /* TODO: update radar. */
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ main_obstacles_nb = radar_update (&robot_pos, main_obstacles_pos);
+ //move_obstacles_update ();
+ simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0);
}
/* Update AI modules. */
logistic_update ();