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authorNicolas Schodet2010-05-14 08:51:29 +0200
committerNicolas Schodet2010-05-14 08:51:29 +0200
commit844edc0f018c2bdae308f1a005837acb7d2aa84d (patch)
treee6d87faaa1a96d2124d35b224852a1b75f9e28c2 /digital/io/src/top.c
parent4bb5b4ac79cb486fef1a05fbdc6baedf51a0b152 (diff)
digital/io/src: add slow motion for corn
Diffstat (limited to 'digital/io/src/top.c')
-rw-r--r--digital/io/src/top.c10
1 files changed, 6 insertions, 4 deletions
diff --git a/digital/io/src/top.c b/digital/io/src/top.c
index a93496c1..7222bcc1 100644
--- a/digital/io/src/top.c
+++ b/digital/io/src/top.c
@@ -32,6 +32,8 @@
#include "chrono.h"
#include "playground.h"
+uint8_t top_food;
+
/** Maximum elements to load before unloading. */
#define TOP_LOADER_MAX 3
/** Time to reserve for unloading at end of round. */
@@ -52,12 +54,12 @@ top_collect (uint8_t force)
{
position_t robot_position;
asserv_get_position (&robot_position);
- uint8_t food = food_best (robot_position);
- if (food == 0xff)
+ top_food = food_best (robot_position);
+ if (top_food == 0xff)
return 0;
vect_t food_v;
- food_pos (food, &food_v);
- move_start_noangle (food_v, 0, food_shorten (food));
+ food_pos (top_food, &food_v);
+ move_start_noangle (food_v, 0, food_shorten (top_food));
return 1;
}
else