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authorNicolas Schodet2011-06-03 08:24:48 +0200
committerNicolas Schodet2011-06-03 08:24:48 +0200
commitd5ca3805ed0eb4829b491352a31165b9fd58b15e (patch)
treee781708f0223b881fb57bf3c7a91f45b2d65894b /digital/io-hub/src/robospierre/main.c
parent002c8f8819a34cc8d589115cca433de716036d8c (diff)
digital/io-hub: handle bumpers
Diffstat (limited to 'digital/io-hub/src/robospierre/main.c')
-rw-r--r--digital/io-hub/src/robospierre/main.c4
1 files changed, 3 insertions, 1 deletions
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 1e12c427..9ae644e6 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -41,6 +41,7 @@
#include "pwm.h"
#include "contact.h"
#include "codebar.h"
+#include "pawn_sensor.h"
#include "radar.h"
#define FSM_NAME AI
@@ -207,6 +208,7 @@ main_loop (void)
/* Update IO modules. */
pwm_update ();
contact_update ();
+ pawn_sensor_update ();
if (usdist_update ())
{
position_t robot_pos;
@@ -234,7 +236,7 @@ main_loop (void)
}
if (main_stats_contact_ && !--main_stats_contact_cpt_)
{
- proto_send1d ('P', contact_all ());
+ proto_send1d ('P', contact_all () | (uint32_t) mimot_get_input () << 24);
main_stats_contact_cpt_ = main_stats_contact_;
}
if (main_stats_codebar_ && !--main_stats_codebar_cpt_)