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-rw-r--r--digital/io-hub/src/apbirthday/robot.cc9
1 files changed, 8 insertions, 1 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 64f2c93f..f99351dc 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -72,7 +72,8 @@ Robot::Robot ()
stats_proto_ (0),
stats_asserv_ (0), stats_beacon_ (0),
stats_chrono_ (false), stats_chrono_last_s_ (-1),
- stats_inputs_ (0), stats_usdist_ (0), stats_cake_ (0), stats_pressure_ (0), stats_rgb_ (0)
+ stats_inputs_ (0), stats_usdist_ (0), stats_cake_ (0), stats_pressure_ (0), stats_rgb_ (0),
+ lcd_send_position_cpt_ (1)
{
robot = this;
// Fill I/O arrays.
@@ -169,8 +170,14 @@ Robot::main_loop ()
zb_i2c_queue_.sync ();
if (!ended)
{
+ lcd.chrono (chrono.remaining_time_ms () / 1000);
Position robot_pos = asserv.get_position ();
beacon.send_position (robot_pos.v);
+ if (!--lcd_send_position_cpt_)
+ {
+ lcd.robot_position (robot_pos);
+ lcd_send_position_cpt_ = 125;
+ }
// Look for obstacles.
for (int i = 0; i < Beacon::pos_nb; i++)
{