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authorJérémy Dufour2009-05-21 17:58:17 +0200
committerJérémy Dufour2009-05-21 17:58:17 +0200
commite68c8bd873fc2746d02ce53caf3422dff78cbb38 (patch)
tree615260693610ca50e63ba01dd033637018c8072c
parentfe8764911d5f11e993a979f3ff347e739bb6e83a (diff)
* digital/io/src:
- we need to see an obstacle from at least two sharps before considering there is something in "front" of us.
-rw-r--r--digital/io/src/sharp.c6
1 files changed, 3 insertions, 3 deletions
diff --git a/digital/io/src/sharp.c b/digital/io/src/sharp.c
index df14dab8..3036c534 100644
--- a/digital/io/src/sharp.c
+++ b/digital/io/src/sharp.c
@@ -212,9 +212,9 @@ sharp_path_obstrued (uint8_t moving_direction)
if (moving_direction == 1)
{
/* Use only front sharps */
- if (sharp_get_interpreted (SHARP_FRONT_LEFT) ||
- sharp_get_interpreted (SHARP_FRONT_MIDDLE) ||
- sharp_get_interpreted (SHARP_FRONT_RIGHT))
+ if (sharp_get_interpreted (SHARP_FRONT_LEFT) +
+ sharp_get_interpreted (SHARP_FRONT_MIDDLE) +
+ sharp_get_interpreted (SHARP_FRONT_RIGHT) >= 2)
/* Something in front */
return 1;
}