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authorNicolas Schodet2010-05-12 17:37:28 +0200
committerNicolas Schodet2010-05-12 17:37:28 +0200
commit1ff9a0a61718a52f60a770a40aaf0915f77cb707 (patch)
treef1e2181ededf255fb0a2c41d127e6589d21fe8a3 /digital/io/src/main.c
parent9ecf83187cd655c55c33a25f19de44ca8e67ac59 (diff)
digital/io/src: generate an event when in field
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c10
1 files changed, 9 insertions, 1 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index f03d0ea6..f33afbb5 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -192,7 +192,15 @@ main_event_to_fsm (void)
}
/* Check obstacles. */
- move_check_obstacles ();
+ if (move_check_obstacles ())
+ return;
+
+ /* Top events. */
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ if (robot_pos.v.y < PG_FIELD_Y_MAX)
+ FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_in_field);
+
/* TODO: Check other sensors */
}