From 1ff9a0a61718a52f60a770a40aaf0915f77cb707 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 12 May 2010 17:37:28 +0200 Subject: digital/io/src: generate an event when in field --- digital/io/src/main.c | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) (limited to 'digital/io/src/main.c') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index f03d0ea6..f33afbb5 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -192,7 +192,15 @@ main_event_to_fsm (void) } /* Check obstacles. */ - move_check_obstacles (); + if (move_check_obstacles ()) + return; + + /* Top events. */ + position_t robot_pos; + asserv_get_position (&robot_pos); + if (robot_pos.v.y < PG_FIELD_Y_MAX) + FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_in_field); + /* TODO: Check other sensors */ } -- cgit v1.2.3