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-rw-r--r--digital/io-hub/src/robospierre/pawn_sensor.c7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/pawn_sensor.c b/digital/io-hub/src/robospierre/pawn_sensor.c
index 3a59e908..be6f3c87 100644
--- a/digital/io-hub/src/robospierre/pawn_sensor.c
+++ b/digital/io-hub/src/robospierre/pawn_sensor.c
@@ -32,6 +32,7 @@
#include "clamp.h"
#include "bot.h"
+#include "modules/utils/utils.h"
#include "modules/math/geometry/distance.h"
/* Handle pawn sensors. When a pawn is detected, it can not be taken
@@ -94,6 +95,12 @@ pawn_sensor_get (uint8_t direction)
ctx->active = 0;
return pawn_sensor_get_type (direction);
}
+ else if (d > UTILS_ABS (dist))
+ {
+ vect_from_polar_uf016 (&ctx->active_position, dist,
+ robot_position.a);
+ vect_translate (&ctx->active_position, &robot_position.v);
+ }
}
else
{