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authorNicolas Schodet2009-08-18 01:55:12 +0200
committerNicolas Schodet2009-08-18 01:55:12 +0200
commit3c8372708ae4c9676c7102358b6858117dae2c78 (patch)
tree797c890d61d5ff730c0346fbd6137dea4878bf4c /digital/io
parent1145f47faf3c4841c89446e6730ecea2eea4c290 (diff)
* digital/avr/modules/path (closes #81):
- added escaping to avoid being blocked if inside an obstacle. - added obstacle factor to avoid a zone.
Diffstat (limited to 'digital/io')
-rw-r--r--digital/io/src/init_cb.c2
-rw-r--r--digital/io/src/move_cb.c2
2 files changed, 2 insertions, 2 deletions
diff --git a/digital/io/src/init_cb.c b/digital/io/src/init_cb.c
index 349f6fec..d622cd68 100644
--- a/digital/io/src/init_cb.c
+++ b/digital/io/src/init_cb.c
@@ -244,7 +244,7 @@ init__WAIT_SECOND_JACK_OUT__jack_removed_from_bot (void)
/* Start the chrono. */
chrono_init ();
/* Set the central round to path module. */
- path_obstacle (0x01, PG_WIDTH / 2, PG_LENGTH / 2, 350,
+ path_obstacle (0x01, PG_WIDTH / 2, PG_LENGTH / 2, 350, 0,
PATH_OBSTACLE_VALID_ALWAYS);
return init_next (WAIT_SECOND_JACK_OUT, jack_removed_from_bot);
}
diff --git a/digital/io/src/move_cb.c b/digital/io/src/move_cb.c
index f34e441b..28ee70db 100644
--- a/digital/io/src/move_cb.c
+++ b/digital/io/src/move_cb.c
@@ -211,7 +211,7 @@ move_obstacle_here (void)
if (move_obstacle_in_table (move_data.obstacle))
{
path_obstacle (0, move_data.obstacle.x, move_data.obstacle.y,
- MOVE_OBSTACLE_RADIUS, MOVE_OBSTACLE_VALIDITY);
+ MOVE_OBSTACLE_RADIUS, 0, MOVE_OBSTACLE_VALIDITY);
DPRINTF ("Obstacle pos x : %d, pos y : %d\n", move_data.obstacle.x,
move_data.obstacle.y);
TRACE (TRACE_MOVE__OBSTACLE, move_data.obstacle.x,