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authorNicolas Schodet2011-05-10 19:37:43 +0200
committerNicolas Schodet2011-05-10 19:37:43 +0200
commit60d3060306a09f301b09201cfaefc9a1f88096c4 (patch)
tree2e13533bbc217a511f03f60574bfc5e2eb655daf /digital/io
parent5c549e44c62e754b76bc9000ca9c8a12fb02c6ae (diff)
digital/{ai,io}: add define for backward/forward
Diffstat (limited to 'digital/io')
-rw-r--r--digital/io/src/move.c6
1 files changed, 3 insertions, 3 deletions
diff --git a/digital/io/src/move.c b/digital/io/src/move.c
index 60db0272..81c554fc 100644
--- a/digital/io/src/move.c
+++ b/digital/io/src/move.c
@@ -397,7 +397,7 @@ move_MOVE_MOVING_bot_move_failed_MOVE_MOVING_BACKWARD_TO_TURN_FREELY ()
position_t robot_pos;
asserv_get_position (&robot_pos);
vect_t obstacle_pos;
- int16_t dist = asserv_get_last_moving_direction () == 1
+ int16_t dist = asserv_get_last_moving_direction () == DIRECTION_FORWARD
? BOT_SIZE_FRONT + MOVE_REAL_OBSTACLE_RADIUS
: -(BOT_SIZE_BACK + MOVE_REAL_OBSTACLE_RADIUS);
vect_from_polar_uf016 (&obstacle_pos, dist, robot_pos.a);
@@ -405,8 +405,8 @@ move_MOVE_MOVING_bot_move_failed_MOVE_MOVING_BACKWARD_TO_TURN_FREELY ()
path_obstacle (0, obstacle_pos, MOVE_OBSTACLE_RADIUS, 0,
MOVE_OBSTACLE_VALIDITY);
/* Move backward to turn freely. */
- asserv_move_linearly (asserv_get_last_moving_direction () == 1 ?
- - 300 : 300);
+ asserv_move_linearly (asserv_get_last_moving_direction ()
+ == DIRECTION_FORWARD ? -300 : 300);
}
FSM_TRANS (MOVE_MOVING,