From b7aa3022e1db1e38f0ee9f7128547fdbc78e9ee0 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 15 May 2012 16:17:01 +0200 Subject: digital/io-hub/src/guybrush: disable US sensors when waiting for jack --- digital/io-hub/src/guybrush/main.c | 6 +++++- digital/io-hub/src/guybrush/main.h | 1 + digital/io-hub/src/guybrush/top.c | 1 + 3 files changed, 7 insertions(+), 1 deletion(-) (limited to 'digital') diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c index be551e9a..63366c13 100644 --- a/digital/io-hub/src/guybrush/main.c +++ b/digital/io-hub/src/guybrush/main.c @@ -75,6 +75,10 @@ uint8_t main_obstacles_nb; /** Global demo mode flag. */ uint8_t main_demo; +/** Global US distance sensor activation flag. Warning: US sensors can not be + * deactivated once activated or you will get outdated values. */ +uint8_t main_usdist; + /** FSM debug mode. */ enum { @@ -242,7 +246,7 @@ main_loop (void) proto_accept (uart0_getc ()); /* Update IO modules. */ contact_update (); - if (usdist_update ()) + if ((main_demo || main_usdist) && usdist_update ()) { position_t robot_pos; asserv_get_position (&robot_pos); diff --git a/digital/io-hub/src/guybrush/main.h b/digital/io-hub/src/guybrush/main.h index e4af6747..6da48587 100644 --- a/digital/io-hub/src/guybrush/main.h +++ b/digital/io-hub/src/guybrush/main.h @@ -28,6 +28,7 @@ extern vect_t main_obstacles_pos[2]; extern uint8_t main_obstacles_nb; extern uint8_t main_demo; +extern uint8_t main_usdist; void main_set_drop_coin_pos(int); diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c index 28ca6dd0..869721b3 100644 --- a/digital/io-hub/src/guybrush/top.c +++ b/digital/io-hub/src/guybrush/top.c @@ -223,6 +223,7 @@ FSM_TRANS (TOP_INIT, init_start_round, unload, TOP_UNLOAD_GOING) { strat_init (); + main_usdist = 1; RETURN_TOP_DECISION_SWITCH (TOP_INIT, init_start_round); } -- cgit v1.2.3