From e68c8bd873fc2746d02ce53caf3422dff78cbb38 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Thu, 21 May 2009 17:58:17 +0200 Subject: * digital/io/src: - we need to see an obstacle from at least two sharps before considering there is something in "front" of us. --- digital/io/src/sharp.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/digital/io/src/sharp.c b/digital/io/src/sharp.c index df14dab8..3036c534 100644 --- a/digital/io/src/sharp.c +++ b/digital/io/src/sharp.c @@ -212,9 +212,9 @@ sharp_path_obstrued (uint8_t moving_direction) if (moving_direction == 1) { /* Use only front sharps */ - if (sharp_get_interpreted (SHARP_FRONT_LEFT) || - sharp_get_interpreted (SHARP_FRONT_MIDDLE) || - sharp_get_interpreted (SHARP_FRONT_RIGHT)) + if (sharp_get_interpreted (SHARP_FRONT_LEFT) + + sharp_get_interpreted (SHARP_FRONT_MIDDLE) + + sharp_get_interpreted (SHARP_FRONT_RIGHT) >= 2) /* Something in front */ return 1; } -- cgit v1.2.3