From 953ff53ccf92e700c7c25136eabbe6699caa90f9 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 00:46:21 +0200 Subject: digital/io/src: make angle optional in move FSM --- digital/io/src/ai_move_cb.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'digital/io/src/ai_move_cb.c') diff --git a/digital/io/src/ai_move_cb.c b/digital/io/src/ai_move_cb.c index 7a8ca9cd..eaa0aead 100644 --- a/digital/io/src/ai_move_cb.c +++ b/digital/io/src/ai_move_cb.c @@ -88,8 +88,12 @@ move_get_next_position (void) { /* Final position. */ move_data.final_move = 1; - /* Goto with angle. */ - asserv_goto_xya (dst.x, dst.y, move_data.final.a, + /* Goto with angle if requested. */ + if (move_data.with_angle) + asserv_goto_xya (dst.x, dst.y, move_data.final.a, + move_data.backward_movement_allowed); + else + asserv_goto (dst.x, dst.y, move_data.backward_movement_allowed); } move_data.step = dst; -- cgit v1.2.3