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authorNicolas Schodet2010-05-13 10:50:40 +0200
committerNicolas Schodet2010-05-13 10:50:40 +0200
commit9b99ef1a8bbf4a109b70b22ebb3842fdb3221651 (patch)
tree2f734b877c42cb461d88f330121c39db59e7428e /digital/io/src/ai_loader_cb.c
parentf3d54d8e62fe76b78bcefd707182408324d25ab5 (diff)
digital/io/src: add food chooser
Diffstat (limited to 'digital/io/src/ai_loader_cb.c')
-rw-r--r--digital/io/src/ai_loader_cb.c4
1 files changed, 4 insertions, 0 deletions
diff --git a/digital/io/src/ai_loader_cb.c b/digital/io/src/ai_loader_cb.c
index 18d60c74..2960cdd9 100644
--- a/digital/io/src/ai_loader_cb.c
+++ b/digital/io/src/ai_loader_cb.c
@@ -29,6 +29,7 @@
#include "mimot.h"
#include "bot.h"
#include "main.h"
+#include "food.h"
/*
* LOADER_IDLE =start=>
@@ -364,6 +365,9 @@ ai__LOADER_LOAD_CLOSING__clamp_succeed (void)
{
asserv_move_motor0_absolute (BOT_ELEVATOR_STROKE_STEP,
BOT_ELEVATOR_SPEED);
+ position_t robot_position;
+ asserv_get_position (&robot_position);
+ food_taken (robot_position);
return ai_next_branch (LOADER_LOAD_CLOSING, clamp_succeed, full);
}
else