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authorNicolas Schodet2012-06-01 22:41:57 +0200
committerNicolas Schodet2012-06-02 00:32:07 +0200
commitf4fdf2e829ee8e1e5d3167a624280acffa09d7de (patch)
tree5c34b90238e538202aa748c46ec3636e2589e484 /digital/ai/src/utils/chrono.c
parenta1c8880ef806ba64f5f985cec8e845f01ebae228 (diff)
digital/io-hub/src/guybrush: integrate beacon system
Diffstat (limited to 'digital/ai/src/utils/chrono.c')
-rw-r--r--digital/ai/src/utils/chrono.c6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/ai/src/utils/chrono.c b/digital/ai/src/utils/chrono.c
index 8560c3e0..d438d4b8 100644
--- a/digital/ai/src/utils/chrono.c
+++ b/digital/ai/src/utils/chrono.c
@@ -26,6 +26,7 @@
#include "timer.h"
#include "asserv.h"
+#include "beacon.h"
#include "twi_master.h"
#include "modules/utils/utils.h"
@@ -93,6 +94,11 @@ chrono_remaining_time (void)
void
chrono_end_match (uint8_t block)
{
+ vect_t v = { 0, 0 };
+ /* Stop beacon system. */
+ beacon_on (0);
+ if (AC_AI_TWI_MASTER_BEACON)
+ beacon_send_position (&v);
/* Make the bot stop moving */
asserv_stop_motor ();
/* Wait until complete */