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authorNicolas Schodet2010-05-13 12:15:15 +0200
committerNicolas Schodet2010-05-13 12:15:15 +0200
commit99a771f6a8d6cfd2c574ba330e9c2c8f875231aa (patch)
tree15ff0a4f6570549878e12d626d1c0a55c0afffda /digital/io/src/top.c
parent9b99ef1a8bbf4a109b70b22ebb3842fdb3221651 (diff)
digital/io/src: add collect after homologation move
Diffstat (limited to 'digital/io/src/top.c')
-rw-r--r--digital/io/src/top.c16
1 files changed, 16 insertions, 0 deletions
diff --git a/digital/io/src/top.c b/digital/io/src/top.c
index caf64de1..f36fcd26 100644
--- a/digital/io/src/top.c
+++ b/digital/io/src/top.c
@@ -23,10 +23,26 @@
*
* }}} */
#include "common.h"
+#include "defs.h"
#include "top.h"
+#include "food.h"
+#include "asserv.h"
void
top_init (void)
{
}
+uint8_t
+top_collect (uint8_t force)
+{
+ position_t robot_position;
+ asserv_get_position (&robot_position);
+ uint8_t food = food_best (robot_position);
+ if (food == 0xff)
+ return 0;
+ vect_t food_v;
+ food_pos (food, &food_v);
+ move_start_noangle (food_v, 0);
+}
+