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-rw-r--r--digital/io/src/main.c42
1 files changed, 8 insertions, 34 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 20717222..06b5c3cb 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -85,13 +85,6 @@ uint8_t main_post_event_for_top_fsm = 0xFF;
uint16_t main_sharp_ignore_event;
/**
- * Flag for homologation, to disable the path finding and always stop in front
- * of an obstacle and wait.
- * Do not touch anymore ! XXX FIXME TODO
- */
-uint8_t main_always_stop_for_obstacle = 1;
-
-/**
* Post an event for the main loop to wake up the move FSM in a certain count
* of cycles.
*/
@@ -304,27 +297,18 @@ main_event_to_fsm (void)
FSM_HANDLE_EVENT (&top_fsm, save_event);
}
/* Sharps event for move FSM */
- /* If we do not need to ignore sharp event */
- if (!main_sharp_ignore_event)
+ /* Get the current direction of the bot */
+ uint8_t moving_direction = asserv_get_moving_direction ();
+ /* If we are moving */
+ if (moving_direction)
{
- /* Get the current direction of the bot */
- uint8_t moving_direction = asserv_get_moving_direction ();
- /* If we are moving */
- if (moving_direction)
+ if (sharp_path_obstrued (moving_direction))
{
- if (sharp_path_obstrued (moving_direction))
- {
- /* Generate an event for move FSM */
- FSM_HANDLE_EVENT (&move_fsm,
- MOVE_EVENT_bot_move_obstacle);
- }
+ /* Generate an event for move FSM */
+ FSM_HANDLE_EVENT (&move_fsm,
+ MOVE_EVENT_obstacle_in_front);
}
}
- /* Wait flag for move FSM */
- if (!main_move_wait_cycle)
- {
- FSM_HANDLE_EVENT (&move_fsm, MOVE_EVENT_wait_finished);
- }
/* TODO: Check other sensors */
/* TODO: implement filterbridge events */
if(!IO_GET (CONTACT_FILTER_BRIDGE_PUCK))
@@ -804,16 +788,6 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
}
}
break;
- case c ('o', 1):
- {
- /* Omo-logo-ation flag, to prevent avoiding obstacle and stop
- * instead.
- * - 1b: state of the flag (0 to disable, 1 to enable).
- * Do not touch anymore ! XXX FIXME TODO
- */
- main_always_stop_for_obstacle = args[0];
- }
- break;
default:
{
uint8_t error = 1;