path: root/digital/io/src/move.c
diff options
authorJérémy Dufour2008-05-03 11:15:31 +0200
committerJérémy Dufour2008-05-03 11:15:31 +0200
commit1bcff7dbcbb284f5564ac708292b23fd447395a9 (patch)
tree2cc5f47226bd7155f9ed575d1a76593b6f14a802 /digital/io/src/move.c
parentd803fd8ba61dba29c904ee1fccfab2b7177834d4 (diff)
* digital/io/src
* top FSM - change the position where to drop balls at the gutter (to prevent the order of dropped balls to change) ; - change the order of balls taken at the distributor: first two samples with three ice, then three samples with two ice. * get samples FSM - manage the case where the arm passed the noted position in the state where it should not (because the arm was blocked) ; - add some debug messages. * gutter FSM - reduce the time spent to drop the balls at the gutter. * move FSM - update the algorithm to avoid obstacle: when a obstacle is seen, first way, then if it is not present anymore continue, otherwise, try to find an alternative path; if none found, wait again. * chrono - near end of the match time increased to 83s.
Diffstat (limited to 'digital/io/src/move.c')
1 files changed, 2 insertions, 0 deletions
diff --git a/digital/io/src/move.c b/digital/io/src/move.c
index 005a8fbc..c30e5ace 100644
--- a/digital/io/src/move.c
+++ b/digital/io/src/move.c
@@ -48,6 +48,8 @@ move_start (uint16_t position_x, uint16_t position_y, uint8_t = position_x; = position_y;
move_data.backward_movement_allowed = backward_movement_allowed;
+ /* XXX */
+ main_always_stop_for_obstacle = 1;
/* Reset move FSM flags */
main_sharp_ignore_event = 0;
main_move_wait_cycle = 0;