From 749798804bbfa46a2980f6b440242ccdb020c63c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 18 May 2012 09:55:06 +0200 Subject: digital/io-hub/src/guybrush: change totem score when upper clamp is dead --- digital/io-hub/src/guybrush/strat.c | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) (limited to 'digital') diff --git a/digital/io-hub/src/guybrush/strat.c b/digital/io-hub/src/guybrush/strat.c index 97c88efa..4d76afea 100644 --- a/digital/io-hub/src/guybrush/strat.c +++ b/digital/io-hub/src/guybrush/strat.c @@ -115,6 +115,8 @@ struct strat_t vect_t prepared_pos; /** Robot content estimation. */ uint8_t load; + /** Upper clamp is dead. */ + uint8_t upper_clamp_dead; /** Places information. */ struct strat_place_dyn_t place[STRAT_PLACE_NB]; }; @@ -186,6 +188,9 @@ strat_place_score (uint8_t i) else score -= 5000; } + if (strat.upper_clamp_dead + && strat_place[i].decision == STRAT_DECISION_TOTEM) + score -= 3000; return score; } @@ -296,9 +301,6 @@ strat_clamp_dead (void) void strat_upper_clamp_dead (void) { - strat.place[STRAT_PLACE_TOTEM0].valid = 0; - strat.place[STRAT_PLACE_TOTEM1].valid = 0; - strat.place[STRAT_PLACE_TOTEM2].valid = 0; - strat.place[STRAT_PLACE_TOTEM3].valid = 0; + strat.upper_clamp_dead = 1; } -- cgit v1.2.3