From 1bcff7dbcbb284f5564ac708292b23fd447395a9 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sat, 3 May 2008 11:15:31 +0200 Subject: * digital/io/src * top FSM - change the position where to drop balls at the gutter (to prevent the order of dropped balls to change) ; - change the order of balls taken at the distributor: first two samples with three ice, then three samples with two ice. * get samples FSM - manage the case where the arm passed the noted position in the state where it should not (because the arm was blocked) ; - add some debug messages. * gutter FSM - reduce the time spent to drop the balls at the gutter. * move FSM - update the algorithm to avoid obstacle: when a obstacle is seen, first way, then if it is not present anymore continue, otherwise, try to find an alternative path; if none found, wait again. * chrono - near end of the match time increased to 83s. --- digital/io/src/main.c | 2 ++ 1 file changed, 2 insertions(+) (limited to 'digital/io/src/main.c') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index 3c045368..844e0d1d 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -78,6 +78,7 @@ uint16_t main_sharp_ignore_event; /** * Flag for homologation, to disable the path finding and always stop in front * of an obstacle and wait. + * Do not touch anymore ! XXX FIXME TODO */ uint8_t main_always_stop_for_obstacle = 1; @@ -623,6 +624,7 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) /* Omo-logo-ation flag, to prevent avoiding obstacle and stop * instead. * - 1b: state of the flag (0 to disable, 1 to enable). + * Do not touch anymore ! XXX FIXME TODO */ main_always_stop_for_obstacle = args[0]; } -- cgit v1.2.3