From c50a6111af2fdde6b4e083e70c54023cdc2866ea Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 14 May 2010 01:45:22 +0200 Subject: digital/io/src: move loader down when rotating --- digital/io/src/ai_move_cb.c | 4 ++++ 1 file changed, 4 insertions(+) (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 af2788ca..e37b56e6 100644 --- a/digital/io/src/ai_move_cb.c +++ b/digital/io/src/ai_move_cb.c @@ -35,6 +35,7 @@ #include "bot.h" #include "radar.h" #include "events.h" +#include "loader.h" #include "main.h" /* main_post_event_for_top_fsm */ #include "modules/math/fixed/fixed.h" /* fixed_* */ @@ -71,6 +72,7 @@ move_go_or_rotate (vect_t dst, uint16_t angle, uint8_t with_angle, /* Move or rotate. */ if (UTILS_ABS (diff) < 0x1000) { + loader_down (); if (with_angle) asserv_goto_xya (dst.x, dst.y, angle, backward); else @@ -79,6 +81,7 @@ move_go_or_rotate (vect_t dst, uint16_t angle, uint8_t with_angle, } else { + loader_up (); asserv_goto_angle (dst_angle); return 2; } @@ -198,6 +201,7 @@ ai__MOVE_IDLE__move_start (void) fsm_branch_t ai__MOVE_ROTATING__bot_move_succeed (void) { + loader_down (); if (move_data.step_with_angle) asserv_goto_xya (move_data.step.x, move_data.step.y, move_data.step_angle, move_data.step_backward); -- cgit v1.2.3