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authorNicolas Schodet2010-05-04 02:25:27 +0200
committerNicolas Schodet2010-05-04 02:25:27 +0200
commit6efb5213ba0113e92f168156c80cd748aea53745 (patch)
tree0018d92b91f3c1c7e72364899882e185788abd35 /digital/io/src/main.c
parentfd1c46e3bbb4a98b7a263c051bd8bda9797c508f (diff)
digital/io/src: first element pickup
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c4
1 files changed, 4 insertions, 0 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 21bfdff8..3a5e5901 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -152,6 +152,10 @@ main_event_to_fsm (void)
if (motorm0_status == success && motorm1_status == success)
FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_clamp_succeed);
+ /* Contacts. */
+ if (!IO_GET (CONTACT_BUMPER0) || !IO_GET (CONTACT_BUMPER1))
+ FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_loader_element);
+
/* Jack */
if (switch_get_jack ())
FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_jack_removed_from_bot);