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-rw-r--r--digital/io-hub/src/robospierre/top.c7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
index 7e3f4413..f4afaa17 100644
--- a/digital/io-hub/src/robospierre/top.c
+++ b/digital/io-hub/src/robospierre/top.c
@@ -153,9 +153,15 @@ top_go_element (void)
if (!ctx.broken)
{
if (e.attr & ELEMENT_GREEN)
+ {
logistic_global.prepare = 0;
+ pawn_sensor_bumper_enable (0);
+ }
else
+ {
logistic_global.prepare = top_prepare_level ();
+ pawn_sensor_bumper_enable (1);
+ }
}
vect_t element_pos = element_get_pos (ctx.target_element_id);
top_go_this_element (element_pos, 0);
@@ -172,6 +178,7 @@ top_go_drop (void)
drop_pos.v = element_get_pos (ctx.target_element_id);
if (!ctx.broken)
logistic_global.prepare = top_prepare_level ();
+ pawn_sensor_bumper_enable (0);
uint8_t backward = logistic_global.collect_direction == DIRECTION_FORWARD
? 0 : ASSERV_BACKWARD;
/* Go above or below the drop point. */