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authorJérémy Dufour2008-05-03 12:43:19 +0200
committerJérémy Dufour2008-05-03 12:43:19 +0200
commit23bce6a75a17b9cd9d3f35a251baa1b0635697a4 (patch)
treecc53e275464e9e86cf6fe705497d0212fea960f1 /digital/io/src/getsamples.c
parent1bcff7dbcbb284f5564ac708292b23fd447395a9 (diff)
* digital/io/src
- manage the event where the bot can be blocked (when moving) in the different FSM, by waiting and trying again ; - ensure we update the classifier (with the servos motor) even when the arm move in a state where it should not.
Diffstat (limited to 'digital/io/src/getsamples.c')
-rw-r--r--digital/io/src/getsamples.c4
1 files changed, 3 insertions, 1 deletions
diff --git a/digital/io/src/getsamples.c b/digital/io/src/getsamples.c
index ead49ecc..c1a7dc60 100644
--- a/digital/io/src/getsamples.c
+++ b/digital/io/src/getsamples.c
@@ -35,11 +35,13 @@ struct getsamples_data_t getsamples_data_;
/* Start the get samples FSM. */
void
-getsamples_start (int16_t approach_angle, uint8_t sample_bitfield)
+getsamples_start (int16_t approach_angle, uint8_t sample_bitfield, uint8_t
+ direction)
{
/* Set parameters */
getsamples_data_.approach_angle = approach_angle;
getsamples_data_.sample_bitfield = sample_bitfield;
+ getsamples_data_.direction = direction;
/* Remove unhandled traps */
getsamples_data_.sample_bitfield &= (_BV (trap_count) - 1) & ~_BV (garbage);