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-rw-r--r--digital/io/src/main.c10
1 files changed, 9 insertions, 1 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index f03d0ea6..f33afbb5 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -192,7 +192,15 @@ main_event_to_fsm (void)
}
/* Check obstacles. */
- move_check_obstacles ();
+ if (move_check_obstacles ())
+ return;
+
+ /* Top events. */
+ position_t robot_pos;
+ asserv_get_position (&robot_pos);
+ if (robot_pos.v.y < PG_FIELD_Y_MAX)
+ FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_in_field);
+
/* TODO: Check other sensors */
}