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Diffstat (limited to 'digital/io-hub/src/robospierre/main.c')
-rw-r--r--digital/io-hub/src/robospierre/main.c4
1 files changed, 3 insertions, 1 deletions
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 1e12c427..9ae644e6 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -41,6 +41,7 @@
#include "pwm.h"
#include "contact.h"
#include "codebar.h"
+#include "pawn_sensor.h"
#include "radar.h"
#define FSM_NAME AI
@@ -207,6 +208,7 @@ main_loop (void)
/* Update IO modules. */
pwm_update ();
contact_update ();
+ pawn_sensor_update ();
if (usdist_update ())
{
position_t robot_pos;
@@ -234,7 +236,7 @@ main_loop (void)
}
if (main_stats_contact_ && !--main_stats_contact_cpt_)
{
- proto_send1d ('P', contact_all ());
+ proto_send1d ('P', contact_all () | (uint32_t) mimot_get_input () << 24);
main_stats_contact_cpt_ = main_stats_contact_;
}
if (main_stats_codebar_ && !--main_stats_codebar_cpt_)