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Diffstat (limited to 'digital/io-hub/src/robospierre/path.c')
-rw-r--r--digital/io-hub/src/robospierre/path.c14
1 files changed, 7 insertions, 7 deletions
diff --git a/digital/io-hub/src/robospierre/path.c b/digital/io-hub/src/robospierre/path.c
index 7da57ec6..ecdddbf7 100644
--- a/digital/io-hub/src/robospierre/path.c
+++ b/digital/io-hub/src/robospierre/path.c
@@ -198,23 +198,23 @@ path_pos (uint8_t node, vect_t *pos)
}
static uint8_t
-path_element_blocking (uint8_t node)
+path_element_blocking (uint8_t node, uint8_t escape)
{
vect_t pos;
path_pos (node, &pos);
int16_t square_x = (pos.x - 450 - 1) / 350;
int16_t square_y = (2100 - pos.y - 1) / 350;
uint8_t element_id = ELEMENT_UNLOAD_START + square_x + 6 * square_y;
- if (element_blocking (element_id))
+ if (element_blocking (element_id, escape))
return 1;
uint8_t intersection = ((pos.x - 450) / 350) != square_x;
if (intersection)
{
- if (element_blocking (element_id + 1))
+ if (element_blocking (element_id + 1, escape))
return 1;
- if (element_blocking (element_id + 6))
+ if (element_blocking (element_id + 6, escape))
return 1;
- if (element_blocking (element_id + 6 + 1))
+ if (element_blocking (element_id + 6 + 1, escape))
return 1;
}
return 0;
@@ -278,7 +278,7 @@ path_blocking (uint8_t a, uint8_t b, int16_t *dp)
return 0;
}
/* Test for a blocking element. */
- if (element_blocking_path (va, vb, d))
+ if (element_blocking_path (va, vb, d, path.escape_factor))
blocking = 1;
/* Handle escaping. */
if (blocking)
@@ -306,7 +306,7 @@ path_blocked_update (void)
uint8_t valid = 1;
/* First, gather information from tables. */
if (!path_nodes[i].usable
- || path_element_blocking (i))
+ || path_element_blocking (i, path.escape_factor))
valid = 0;
else
{