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/move.c | 2 ++ 1 file changed, 2 insertions(+) (limited to 'digital/io/src/move.c') diff --git a/digital/io/src/move.c b/digital/io/src/move.c index 005a8fbc..c30e5ace 100644 --- a/digital/io/src/move.c +++ b/digital/io/src/move.c @@ -48,6 +48,8 @@ move_start (uint16_t position_x, uint16_t position_y, uint8_t move_data.final.x = position_x; move_data.final.y = position_y; move_data.backward_movement_allowed = backward_movement_allowed; + /* XXX */ + main_always_stop_for_obstacle = 1; /* Reset move FSM flags */ main_sharp_ignore_event = 0; main_move_wait_cycle = 0; -- cgit v1.2.3