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authorJérémy Dufour2008-05-01 00:57:16 +0200
committerJérémy Dufour2008-05-01 00:57:16 +0200
commit94ed449899985636256b5228d5e0f6bba5af2971 (patch)
treeb6ce5ee5b89bc795652f8e9564394e9a492affa1 /digital/io/src/main.c
parente03562b2b6fc1914b4d848fc6a6940ed55e4214a (diff)
* digital/io/src
- add a function to the sharp module to know if there is a obstacle in front of us (by taking in account the current moving direction of the bot).
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c22
1 files changed, 4 insertions, 18 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 2e7dafcd..e5d25cf3 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -274,25 +274,11 @@ main_loop (void)
/* If we are moving */
if (moving_direction)
{
- /* If we are moving forward */
- if (moving_direction == 1)
+ if (sharp_path_obstrued (moving_direction))
{
- /* Use only front sharps */
- if (sharp_get_interpreted (SHARP_FRONT_LEFT) ||
- sharp_get_interpreted (SHARP_FRONT_MIDDLE) ||
- sharp_get_interpreted (SHARP_FRONT_RIGHT))
- /* Generate an event for move FSM */
- FSM_HANDLE_EVENT (&move_fsm,
- MOVE_EVENT_bot_move_obstacle);
- }
- /* If we are moving backward */
- else if (moving_direction == 2)
- {
- /* Use only back sharps */
- if (sharp_get_interpreted (SHARP_BACK_LEFT) ||
- sharp_get_interpreted (SHARP_BACK_RIGHT))
- /* Generate an event for move FSM */
- FSM_HANDLE_EVENT (&move_fsm, MOVE_EVENT_bot_move_obstacle);
+ /* Generate an event for move FSM */
+ FSM_HANDLE_EVENT (&move_fsm,
+ MOVE_EVENT_bot_move_obstacle);
}
}
}