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-rw-r--r--digital/io/src/ai_move_cb.c8
1 files changed, 6 insertions, 2 deletions
diff --git a/digital/io/src/ai_move_cb.c b/digital/io/src/ai_move_cb.c
index 7a8ca9cd..eaa0aead 100644
--- a/digital/io/src/ai_move_cb.c
+++ b/digital/io/src/ai_move_cb.c
@@ -88,8 +88,12 @@ move_get_next_position (void)
{
/* Final position. */
move_data.final_move = 1;
- /* Goto with angle. */
- asserv_goto_xya (dst.x, dst.y, move_data.final.a,
+ /* Goto with angle if requested. */
+ if (move_data.with_angle)
+ asserv_goto_xya (dst.x, dst.y, move_data.final.a,
+ move_data.backward_movement_allowed);
+ else
+ asserv_goto (dst.x, dst.y,
move_data.backward_movement_allowed);
}
move_data.step = dst;