From f86980a9c1a8a7daf2b45629a66288f2a8fd03a2 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 31 May 2011 22:35:06 +0200 Subject: digital/io-hub: authorize backward movement from green zone --- digital/io-hub/src/robospierre/move.c | 5 +++++ 1 file changed, 5 insertions(+) (limited to 'digital/io-hub/src/robospierre') diff --git a/digital/io-hub/src/robospierre/move.c b/digital/io-hub/src/robospierre/move.c index 6c204f61..09faf8f9 100644 --- a/digital/io-hub/src/robospierre/move.c +++ b/digital/io-hub/src/robospierre/move.c @@ -24,6 +24,7 @@ * }}} */ #include "common.h" #include "move.h" +#include "playground_2011.h" #include "main.h" #include "asserv.h" @@ -191,6 +192,10 @@ move_go_or_rotate (vect_t dst, uint16_t angle, uint8_t with_angle, uint16_t robot_angle = robot_position.a; if (backward & ASSERV_BACKWARD) robot_angle += 0x8000; + /* Check for green zone. */ + if (robot_position.v.x < PG_GREEN_WIDTH_MM + || robot_position.v.x > PG_WIDTH - PG_GREEN_WIDTH_MM) + backward |= ASSERV_REVERT_OK; /* Remember step. */ move_data.step = dst; move_data.step_angle = angle; -- cgit v1.2.3