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-rw-r--r--digital/io/src/radar.c5
1 files changed, 3 insertions, 2 deletions
diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c
index 6188ff37..5f13b7cb 100644
--- a/digital/io/src/radar.c
+++ b/digital/io/src/radar.c
@@ -158,10 +158,11 @@ radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos,
* stop length. */
uint16_t length;
if (d < RADAR_STOP_MM - RADAR_CLEARANCE_MM)
- length = d + BOT_SIZE_FRONT + RADAR_CLEARANCE_MM
+ length = d + BOT_SIZE_FRONT_CLAMP + RADAR_CLEARANCE_MM
+ RADAR_OBSTACLE_RADIUS_MM;
else
- length = BOT_SIZE_FRONT + RADAR_STOP_MM + RADAR_OBSTACLE_RADIUS_MM;
+ length = BOT_SIZE_FRONT_CLAMP + RADAR_STOP_MM
+ + RADAR_OBSTACLE_RADIUS_MM;
/* To save divisions, multiply limits by vd length. */
int32_t limit = (uint32_t) d * length;
int32_t limitn = (uint32_t) d * (BOT_SIZE_SIDE + RADAR_CLEARANCE_MM