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/move.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'digital/io/src/move.c') diff --git a/digital/io/src/move.c b/digital/io/src/move.c index c0676c3d..24b8848d 100644 --- a/digital/io/src/move.c +++ b/digital/io/src/move.c @@ -58,7 +58,7 @@ move_obstacles_update (void) MOVE_OBSTACLE_VALIDITY); } -void +uint8_t move_check_obstacles (void) { if (fsm_can_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front)) @@ -67,7 +67,9 @@ move_check_obstacles (void) asserv_get_position (&robot_pos); if (radar_blocking (&robot_pos.v, &move_data.step, main_obstacles_pos, main_obstacles_nb)) - fsm_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front); + if (fsm_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front)) + return 1; } + return 0; } -- cgit v1.2.3