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authorNicolas Schodet2012-05-15 16:17:01 +0200
committerNicolas Schodet2012-05-15 20:46:42 +0200
commitb7aa3022e1db1e38f0ee9f7128547fdbc78e9ee0 (patch)
tree8201ac14e0af0165221fee3202ddc79d501d093d /digital/io-hub/src/guybrush/main.c
parent0fab16113e29d0de600465f7514af16e6a8d69e7 (diff)
digital/io-hub/src/guybrush: disable US sensors when waiting for jack
Diffstat (limited to 'digital/io-hub/src/guybrush/main.c')
-rw-r--r--digital/io-hub/src/guybrush/main.c6
1 files changed, 5 insertions, 1 deletions
diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c
index be551e9a..63366c13 100644
--- a/digital/io-hub/src/guybrush/main.c
+++ b/digital/io-hub/src/guybrush/main.c
@@ -75,6 +75,10 @@ uint8_t main_obstacles_nb;
/** Global demo mode flag. */
uint8_t main_demo;
+/** Global US distance sensor activation flag. Warning: US sensors can not be
+ * deactivated once activated or you will get outdated values. */
+uint8_t main_usdist;
+
/** FSM debug mode. */
enum
{
@@ -242,7 +246,7 @@ main_loop (void)
proto_accept (uart0_getc ());
/* Update IO modules. */
contact_update ();
- if (usdist_update ())
+ if ((main_demo || main_usdist) && usdist_update ())
{
position_t robot_pos;
asserv_get_position (&robot_pos);