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authorNicolas Schodet2010-04-23 00:33:38 +0200
committerNicolas Schodet2010-04-23 00:33:38 +0200
commit9698c90f847c3ae416f2183a26a3693aca0a8053 (patch)
tree47b12ee835d7a86271f3093762dfaf04973854dd /digital/io/src/move.c
parent71d99ef2521c11addf8dbdce89d195a9de083f74 (diff)
digital/io/src: always update path obstacles
Diffstat (limited to 'digital/io/src/move.c')
-rw-r--r--digital/io/src/move.c13
1 files changed, 13 insertions, 0 deletions
diff --git a/digital/io/src/move.c b/digital/io/src/move.c
index f0996070..6eb9bfde 100644
--- a/digital/io/src/move.c
+++ b/digital/io/src/move.c
@@ -25,10 +25,14 @@
#include "common.h"
#include "move.h"
#include "fsm.h"
+#include "bot.h"
#include "radar.h"
#include "asserv.h"
#include "main.h"
+#include "modules/path/path.h"
+#include "modules/utils/utils.h"
+
/**
* Internal data used by the move FSM.
*/
@@ -46,6 +50,15 @@ move_start (position_t position, uint8_t backward)
}
void
+move_obstacles_update (void)
+{
+ uint8_t i;
+ for (i = 0; i < main_obstacles_nb; i++)
+ path_obstacle (i, main_obstacles_pos[i].x, main_obstacles_pos[i].y,
+ MOVE_OBSTACLE_RADIUS, 0, MOVE_OBSTACLE_VALIDITY);
+}
+
+void
move_check_obstacles (void)
{
if (fsm_can_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front))