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authorNicolas Haller2009-05-09 05:05:39 +0200
committerNicolas Haller2009-05-09 05:05:39 +0200
commita367d0c7148a6de0c16aa8f9dabd597be01d3584 (patch)
treeb81ccb315894510e286f38cf305be35e368bc54b /digital/io/src/init_cb.c
parent7d174ea9c2cbecfa548fa4423d432073c5fa8043 (diff)
* digital/io/src:
- fix init FSM (fix angle values) - implement filterbridge FSM
Diffstat (limited to 'digital/io/src/init_cb.c')
-rw-r--r--digital/io/src/init_cb.c5
1 files changed, 3 insertions, 2 deletions
diff --git a/digital/io/src/init_cb.c b/digital/io/src/init_cb.c
index f05a5fef..70a964c1 100644
--- a/digital/io/src/init_cb.c
+++ b/digital/io/src/init_cb.c
@@ -29,6 +29,7 @@
#include "init.h"
#include "playground.h"
#include "main.h"
+#include "aquajim.h"
/*
* GOTO_THE_WALL_AGAIN =move_done=>
@@ -86,7 +87,7 @@ init__TURN_90_DEGREES_CCW__move_done (void)
fsm_branch_t
init__GO_BACKWARD__move_done (void)
{
- asserv_move_angularly(90);
+ asserv_move_angularly(90*BOT_ANGLE_DEGREE);
return init_next (GO_BACKWARD, move_done);
}
@@ -136,7 +137,7 @@ init__WAIT_2_SEC__init_tempo_ended (void)
fsm_branch_t
init__GO_BACKWARD_AGAIN__move_done (void)
{
- asserv_move_angularly(180);
+ asserv_move_angularly(180*BOT_ANGLE_DEGREE);
return init_next (GO_BACKWARD_AGAIN, move_done);
}