From 3c8372708ae4c9676c7102358b6858117dae2c78 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 18 Aug 2009 01:55:12 +0200 Subject: * digital/avr/modules/path (closes #81): - added escaping to avoid being blocked if inside an obstacle. - added obstacle factor to avoid a zone. --- digital/io/src/init_cb.c | 2 +- digital/io/src/move_cb.c | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) (limited to 'digital/io') diff --git a/digital/io/src/init_cb.c b/digital/io/src/init_cb.c index 349f6fec..d622cd68 100644 --- a/digital/io/src/init_cb.c +++ b/digital/io/src/init_cb.c @@ -244,7 +244,7 @@ init__WAIT_SECOND_JACK_OUT__jack_removed_from_bot (void) /* Start the chrono. */ chrono_init (); /* Set the central round to path module. */ - path_obstacle (0x01, PG_WIDTH / 2, PG_LENGTH / 2, 350, + path_obstacle (0x01, PG_WIDTH / 2, PG_LENGTH / 2, 350, 0, PATH_OBSTACLE_VALID_ALWAYS); return init_next (WAIT_SECOND_JACK_OUT, jack_removed_from_bot); } diff --git a/digital/io/src/move_cb.c b/digital/io/src/move_cb.c index f34e441b..28ee70db 100644 --- a/digital/io/src/move_cb.c +++ b/digital/io/src/move_cb.c @@ -211,7 +211,7 @@ move_obstacle_here (void) if (move_obstacle_in_table (move_data.obstacle)) { path_obstacle (0, move_data.obstacle.x, move_data.obstacle.y, - MOVE_OBSTACLE_RADIUS, MOVE_OBSTACLE_VALIDITY); + MOVE_OBSTACLE_RADIUS, 0, MOVE_OBSTACLE_VALIDITY); DPRINTF ("Obstacle pos x : %d, pos y : %d\n", move_data.obstacle.x, move_data.obstacle.y); TRACE (TRACE_MOVE__OBSTACLE, move_data.obstacle.x, -- cgit v1.2.3