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authorNicolas Schodet2011-06-03 13:42:03 +0200
committerNicolas Schodet2011-06-03 13:42:03 +0200
commitc5a6dd43df4a0557a1d624dabd9bccd46ba86f34 (patch)
tree3ea88c7561ca7a0866d0574f5d58ee68aed7f8a6 /digital/io-hub/src/robospierre
parentd1e8794ecc6f837ee84e3a2a50bcca1ab3eaa565 (diff)
digital/io-hub: I like green when strat switch selected
Diffstat (limited to 'digital/io-hub/src/robospierre')
-rw-r--r--digital/io-hub/src/robospierre/top.c4
1 files changed, 4 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
index 595371f7..7ed145a2 100644
--- a/digital/io-hub/src/robospierre/top.c
+++ b/digital/io-hub/src/robospierre/top.c
@@ -23,6 +23,7 @@
*
* }}} */
#include "common.h"
+#include "io.h"
#include "playground_2011.h"
#include "asserv.h"
@@ -34,6 +35,7 @@
#include "move.h"
#include "chrono.h"
#include "pawn_sensor.h"
+#include "contact.h"
/*
* Here is the top FSM. This FSM is suppose to give life to the robot with an
@@ -398,6 +400,8 @@ FSM_TRANS (TOP_DROP_DROPPING, clamp_drop_waiting, TOP_DROP_CLEARING)
{
if (ctx.target_element_id != 0xff)
element_down (ctx.target_element_id, ELEMENT_TOWER);
+ if (!IO_GET (CONTACT_STRAT))
+ element_i_like_green ();
asserv_move_linearly (logistic_global.collect_direction
== DIRECTION_FORWARD ? 150 : -150);
return FSM_NEXT (TOP_DROP_DROPPING, clamp_drop_waiting);