From 079e9cd0832d9854b172d120c822b578a2788e9a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 31 May 2011 15:45:24 +0200 Subject: digital/io-hub: fix pawn sensor --- digital/io-hub/src/robospierre/pawn_sensor.c | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/digital/io-hub/src/robospierre/pawn_sensor.c b/digital/io-hub/src/robospierre/pawn_sensor.c index 3a59e908..be6f3c87 100644 --- a/digital/io-hub/src/robospierre/pawn_sensor.c +++ b/digital/io-hub/src/robospierre/pawn_sensor.c @@ -32,6 +32,7 @@ #include "clamp.h" #include "bot.h" +#include "modules/utils/utils.h" #include "modules/math/geometry/distance.h" /* Handle pawn sensors. When a pawn is detected, it can not be taken @@ -94,6 +95,12 @@ pawn_sensor_get (uint8_t direction) ctx->active = 0; return pawn_sensor_get_type (direction); } + else if (d > UTILS_ABS (dist)) + { + vect_from_polar_uf016 (&ctx->active_position, dist, + robot_position.a); + vect_translate (&ctx->active_position, &robot_position.v); + } } else { -- cgit v1.2.3