summaryrefslogtreecommitdiff
path: root/digital/io-hub/src/robospierre/logistic.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io-hub/src/robospierre/logistic.c')
-rw-r--r--digital/io-hub/src/robospierre/logistic.c18
1 files changed, 18 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/logistic.c b/digital/io-hub/src/robospierre/logistic.c
index 8c2a759f..0dbbaa6c 100644
--- a/digital/io-hub/src/robospierre/logistic.c
+++ b/digital/io-hub/src/robospierre/logistic.c
@@ -221,3 +221,21 @@ logistic_drop (uint8_t direction)
logistic_decision ();
}
+static uint8_t
+logistic_slot_clear (uint8_t slot)
+{
+ if (CLAMP_IS_SLOT_IN_FRONT_BAY (slot)
+ && ctx.slots[CLAMP_SLOT_FRONT_MIDDLE])
+ return 0;
+ if (CLAMP_IS_SLOT_IN_BACK_BAY (slot)
+ && ctx.slots[CLAMP_SLOT_BACK_MIDDLE])
+ return 0;
+ return 1;
+}
+
+uint8_t
+logistic_path_clear (uint8_t slot1, uint8_t slot2)
+{
+ return logistic_slot_clear (slot1) && logistic_slot_clear (slot2);
+}
+