From 99a771f6a8d6cfd2c574ba330e9c2c8f875231aa Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 12:15:15 +0200 Subject: digital/io/src: add collect after homologation move --- digital/io/src/top.c | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) (limited to 'digital/io/src/top.c') diff --git a/digital/io/src/top.c b/digital/io/src/top.c index caf64de1..f36fcd26 100644 --- a/digital/io/src/top.c +++ b/digital/io/src/top.c @@ -23,10 +23,26 @@ * * }}} */ #include "common.h" +#include "defs.h" #include "top.h" +#include "food.h" +#include "asserv.h" void top_init (void) { } +uint8_t +top_collect (uint8_t force) +{ + position_t robot_position; + asserv_get_position (&robot_position); + uint8_t food = food_best (robot_position); + if (food == 0xff) + return 0; + vect_t food_v; + food_pos (food, &food_v); + move_start_noangle (food_v, 0); +} + -- cgit v1.2.3