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authorNicolas Schodet2011-06-01 22:09:30 +0200
committerNicolas Schodet2011-06-01 22:09:30 +0200
commitf78f32f27a922a9c33e0592d9287d76eddedcb57 (patch)
tree8249289b890dd1a655517a418cfd41bac92e5f53
parent44e19c5b04ae34c912c9c0302c1c43e770e0eef1 (diff)
digital/io-hub: fix element unload score
-rw-r--r--digital/io-hub/src/robospierre/element.c2
-rw-r--r--digital/io-hub/src/robospierre/top.c2
2 files changed, 2 insertions, 2 deletions
diff --git a/digital/io-hub/src/robospierre/element.c b/digital/io-hub/src/robospierre/element.c
index b0c38265..ed126cc5 100644
--- a/digital/io-hub/src/robospierre/element.c
+++ b/digital/io-hub/src/robospierre/element.c
@@ -216,7 +216,7 @@ element_unload_best (position_t robot_pos)
i <= ELEMENT_UNLOAD_END;
i++)
{
- score = element_score (robot_pos , i);
+ score = element_unload_score (robot_pos , i);
if (best == 0xff || best_score < score)
{
best = i;
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
index e52c2106..044821e8 100644
--- a/digital/io-hub/src/robospierre/top.c
+++ b/digital/io-hub/src/robospierre/top.c
@@ -108,7 +108,7 @@ top_go_drop (void)
{
position_t robot_pos;
asserv_get_position (&robot_pos);
- ctx.target_element_id = 43;
+ ctx.target_element_id = element_unload_best (robot_pos);
position_t drop_pos;
drop_pos.v = element_get_pos (ctx.target_element_id);
uint8_t backward = logistic_global.collect_direction == DIRECTION_FORWARD