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authorNicolas Schodet2013-03-31 19:28:24 +0200
committerNicolas Schodet2013-03-31 19:28:24 +0200
commitb3392b2c9b5e808e868b092422d7b143a82c4628 (patch)
tree0586a54f57e5b392aae8839acf5e2e5e9698c207 /digital/io-hub/src/apbirthday/robot.cc
parent3adb1db9e53ab8d33f25913376c8172d48253e34 (diff)
digital/io-hub/src/apbirthday: add radar system and obstacles handling
Diffstat (limited to 'digital/io-hub/src/apbirthday/robot.cc')
-rw-r--r--digital/io-hub/src/apbirthday/robot.cc9
1 files changed, 8 insertions, 1 deletions
diff --git a/digital/io-hub/src/apbirthday/robot.cc b/digital/io-hub/src/apbirthday/robot.cc
index 70b70e98..a40ca160 100644
--- a/digital/io-hub/src/apbirthday/robot.cc
+++ b/digital/io-hub/src/apbirthday/robot.cc
@@ -44,6 +44,7 @@ Robot::Robot ()
usdist1_ (usdist_control_, hardware.adc_dist1, hardware.dist1_sync, 100, 700, 650),
usdist2_ (usdist_control_, hardware.adc_dist2, hardware.dist2_sync, 100, 700, 650),
usdist3_ (usdist_control_, hardware.adc_dist3, hardware.dist3_sync, 100, 700, 650),
+ radar_ (usdist0_, usdist1_, usdist2_, usdist3_),
candles (1),
fsm_debug_state_ (FSM_DEBUG_RUN),
outputs_set_ (outputs_, lengthof (outputs_)),
@@ -108,7 +109,13 @@ Robot::main_loop ()
// Wait until next cycle.
hardware.wait ();
// Update IO modules.
- usdist_control_.update ();
+ if (usdist_control_.update ())
+ {
+ Position robot_pos;
+ asserv.get_position (robot_pos);
+ radar_.update (robot_pos, obstacles);
+ }
+ obstacles.update ();
pressure.update ();
outputs_set_.update ();
// Handle communications.