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authorNicolas Schodet2010-05-29 17:00:27 +0200
committerNicolas Schodet2010-05-29 17:00:27 +0200
commit3e563d4b1282c7d1bbeb76c69f39d5c684fef3c2 (patch)
treeff7b3cf1bc27317f611f0925c567187a99ef3fbb
parentb15a220515f1d0fdec93d901577d8dd18e160514 (diff)
digital/io/src: ignore bumpers when clamp is too highidf-2010-2idf-2010-1
-rw-r--r--digital/io/src/main.c3
1 files changed, 2 insertions, 1 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 43ba07ad..35ee83c1 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -195,7 +195,8 @@ main_event_to_fsm (void)
FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_elevator_unload_position);
/* Contacts. */
- if (!IO_GET (CONTACT_BUMPER0) || !IO_GET (CONTACT_BUMPER1))
+ if (asserv_get_motor0_position () < BOT_ELEVATOR_REST_STEP
+ && (!IO_GET (CONTACT_BUMPER0) || !IO_GET (CONTACT_BUMPER1)))
FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_loader_element);
if (!IO_GET (CONTACT_STRATEGY))
{