From 94ad65245035203845f264f89a05d564b680869d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 3 Apr 2013 08:16:40 +0200 Subject: digital/io-hub/src/apbirthday: add move FSM --- digital/io-hub/src/apbirthday/robot.cc | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'digital/io-hub/src/apbirthday/robot.cc') diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc index 6352cca9..f76903f9 100644 --- a/digital/io-hub/src/apbirthday/robot.cc +++ b/digital/io-hub/src/apbirthday/robot.cc @@ -167,6 +167,9 @@ Robot::fsm_gen_event () if (ANGFSM_HANDLE_VAR (AI, event)) return true; } + // Check obstacles. + if (move.check_obstacles ()) + return true; return false; } @@ -193,9 +196,8 @@ Robot::proto_handle (ucoo::Proto &proto, char cmd, const uint8_t *args, int size (int16_t) ucoo::bytes_pack (args[0], args[1]), (int16_t) ucoo::bytes_pack (args[2], args[3]), }; - asserv.stop (); - // TODO: use move FSM. - asserv.goto_xy (pos, Asserv::DirectionConsign (args[4])); + move.stop (); + move.start (pos, Asserv::DirectionConsign (args[4])); } break; case c ('f', 2): -- cgit v1.2.3