From 13776d2ecc35e6470bc159c7065a0cdf0e7db588 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Jun 2011 00:52:51 +0200 Subject: digital/io-hub: handle path to protected zone --- digital/io-hub/src/robospierre/path.c | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/digital/io-hub/src/robospierre/path.c b/digital/io-hub/src/robospierre/path.c index 4f871213..7da57ec6 100644 --- a/digital/io-hub/src/robospierre/path.c +++ b/digital/io-hub/src/robospierre/path.c @@ -252,6 +252,13 @@ path_blocking (uint8_t a, uint8_t b, int16_t *dp) return 1; if (a_green || b_green) factor = 4; + /* Test for protected zone. */ + if (va.y <= 350 && va.x > PG_WIDTH / 2 - 350 && va.y < PG_WIDTH / 2 + 350 + && (vb.x < PG_WIDTH / 2 - 350 || vb.x > PG_WIDTH / 2 + 350)) + return 1; + if (vb.y <= 350 && vb.x > PG_WIDTH / 2 - 350 && vb.y < PG_WIDTH / 2 + 350 + && (va.x < PG_WIDTH / 2 - 350 || va.x > PG_WIDTH / 2 + 350)) + return 1; /* Test for a blocking obstacle. */ for (i = 0; i < PATH_OBSTACLES_NB && !blocking; i++) { -- cgit v1.2.3