From a42a9f908fc0cad8760ecda5670a6b1322d56a83 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 25 Jun 2011 16:39:27 +0200 Subject: Revert "digital/io-hub/src/robospierre: disable pawn sensors when tower dropped" This reverts commit 0b9ae480b928a24664bfd30edcd17d760db593d1. --- digital/io-hub/src/robospierre/pawn_sensor.c | 6 ------ digital/io-hub/src/robospierre/pawn_sensor.h | 4 ---- digital/io-hub/src/robospierre/top.c | 2 -- 3 files changed, 12 deletions(-) diff --git a/digital/io-hub/src/robospierre/pawn_sensor.c b/digital/io-hub/src/robospierre/pawn_sensor.c index faeee879..cc9e6900 100644 --- a/digital/io-hub/src/robospierre/pawn_sensor.c +++ b/digital/io-hub/src/robospierre/pawn_sensor.c @@ -214,12 +214,6 @@ pawn_sensor_bumper_enable (uint8_t enabled) pawn_sensor_global.bumper_enabled = enabled; } -void -pawn_sensor_bumper_wait (uint16_t wait) -{ - pawn_sensor_global.bump_wait = wait; -} - vect_t pawn_sensor_get_last_bumped (void) { diff --git a/digital/io-hub/src/robospierre/pawn_sensor.h b/digital/io-hub/src/robospierre/pawn_sensor.h index 9c76f77a..8d6d2651 100644 --- a/digital/io-hub/src/robospierre/pawn_sensor.h +++ b/digital/io-hub/src/robospierre/pawn_sensor.h @@ -38,10 +38,6 @@ pawn_sensor_update (void); void pawn_sensor_bumper_enable (uint8_t enabled); -/** Temporarily disable bumpers. */ -void -pawn_sensor_bumper_wait (uint16_t wait); - /** Return last bumped pawn. */ vect_t pawn_sensor_get_last_bumped (void); diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c index 3d39f60a..7732fb50 100644 --- a/digital/io-hub/src/robospierre/top.c +++ b/digital/io-hub/src/robospierre/top.c @@ -434,7 +434,6 @@ FSM_TRANS (TOP_DROP_CLEARING, robot_move_success, element, TOP_GOING_TO_ELEMENT) { clamp_drop_clear (); - pawn_sensor_bumper_wait (3 * 250); switch (top_decision ()) { default: return FSM_NEXT (TOP_DROP_CLEARING, robot_move_success, drop); @@ -447,7 +446,6 @@ FSM_TRANS (TOP_DROP_CLEARING, robot_move_failure, element, TOP_GOING_TO_ELEMENT) { clamp_drop_clear (); - pawn_sensor_bumper_wait (3 * 250); switch (top_decision ()) { default: return FSM_NEXT (TOP_DROP_CLEARING, robot_move_failure, drop); -- cgit v1.2.3