From ee07cf05d3e699bdca7c807c4d09abddf5b2fba7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 8 May 2013 19:18:46 +0200 Subject: digital/io-hub/src/apbirthday: get opponent position from beacon --- digital/io-hub/src/apbirthday/robot.cc | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/io-hub/src') diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc index 790f381b..909bbc31 100644 --- a/digital/io-hub/src/apbirthday/robot.cc +++ b/digital/io-hub/src/apbirthday/robot.cc @@ -170,6 +170,13 @@ Robot::main_loop () Position robot_pos = asserv.get_position (); beacon.send_position (robot_pos.v); // Look for obstacles. + for (int i = 0; i < Beacon::pos_nb; i++) + { + vect_t pos; + int trust = beacon.get_position (i, pos); + if (trust > 70) + obstacles.add (pos); + } if (usdist_control_.update ()) { radar_.update (robot_pos, obstacles); -- cgit v1.2.3