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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/move.c
parent9ecf83187cd655c55c33a25f19de44ca8e67ac59 (diff)
digital/io/src: generate an event when in field
Diffstat (limited to 'digital/io/src/move.c')
-rw-r--r--digital/io/src/move.c6
1 files changed, 4 insertions, 2 deletions
diff --git a/digital/io/src/move.c b/digital/io/src/move.c
index c0676c3d..24b8848d 100644
--- a/digital/io/src/move.c
+++ b/digital/io/src/move.c
@@ -58,7 +58,7 @@ move_obstacles_update (void)
MOVE_OBSTACLE_VALIDITY);
}
-void
+uint8_t
move_check_obstacles (void)
{
if (fsm_can_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front))
@@ -67,7 +67,9 @@ move_check_obstacles (void)
asserv_get_position (&robot_pos);
if (radar_blocking (&robot_pos.v, &move_data.step, main_obstacles_pos,
main_obstacles_nb))
- fsm_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front);
+ if (fsm_handle_event (&ai_fsm, AI_EVENT_obstacle_in_front))
+ return 1;
}
+ return 0;
}