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authorNicolas Schodet2010-05-14 01:45:22 +0200
committerNicolas Schodet2010-05-14 01:45:22 +0200
commitc50a6111af2fdde6b4e083e70c54023cdc2866ea (patch)
treecda86d514e2204d5bdc41745859e174cdc4179fd
parent6ca539dd06a20f44d6a01d450668819c7c89d201 (diff)
digital/io/src: move loader down when rotating
-rw-r--r--digital/io/src/ai_move_cb.c4
1 files changed, 4 insertions, 0 deletions
diff --git a/digital/io/src/ai_move_cb.c b/digital/io/src/ai_move_cb.c
index af2788ca..e37b56e6 100644
--- a/digital/io/src/ai_move_cb.c
+++ b/digital/io/src/ai_move_cb.c
@@ -35,6 +35,7 @@
#include "bot.h"
#include "radar.h"
#include "events.h"
+#include "loader.h"
#include "main.h" /* main_post_event_for_top_fsm */
#include "modules/math/fixed/fixed.h" /* fixed_* */
@@ -71,6 +72,7 @@ move_go_or_rotate (vect_t dst, uint16_t angle, uint8_t with_angle,
/* Move or rotate. */
if (UTILS_ABS (diff) < 0x1000)
{
+ loader_down ();
if (with_angle)
asserv_goto_xya (dst.x, dst.y, angle, backward);
else
@@ -79,6 +81,7 @@ move_go_or_rotate (vect_t dst, uint16_t angle, uint8_t with_angle,
}
else
{
+ loader_up ();
asserv_goto_angle (dst_angle);
return 2;
}
@@ -198,6 +201,7 @@ ai__MOVE_IDLE__move_start (void)
fsm_branch_t
ai__MOVE_ROTATING__bot_move_succeed (void)
{
+ loader_down ();
if (move_data.step_with_angle)
asserv_goto_xya (move_data.step.x, move_data.step.y,
move_data.step_angle, move_data.step_backward);