From fc65195c03eee14ea02a2d1d734114d4d5191502 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 6 Apr 2012 22:26:51 +0200 Subject: digital/asserv: make contacts optional --- digital/asserv/src/asserv/traj.c | 10 ++++++++++ 1 file changed, 10 insertions(+) diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c index ac81417e..abf6c730 100644 --- a/digital/asserv/src/asserv/traj.c +++ b/digital/asserv/src/asserv/traj.c @@ -154,16 +154,21 @@ traj_ftw (void) speed = cs_main.speed_theta.slow; if (!traj_backward) { +#ifdef CONTACT_FRONT_LEFT_IO left = !IO_GET (CONTACT_FRONT_LEFT_IO); right = !IO_GET (CONTACT_FRONT_RIGHT_IO); +#endif } else { +#ifdef CONTACT_BACK_LEFT_IO speed = -speed; left = !IO_GET (CONTACT_BACK_LEFT_IO); right = !IO_GET (CONTACT_BACK_RIGHT_IO); +#endif } center = 0; +#ifdef CONTACT_CENTER_IO if (traj_use_center) { if (!IO_GET (CONTACT_CENTER_IO)) @@ -174,6 +179,7 @@ traj_ftw (void) traj_center_delay--; } } +#endif speed_control_set_speed (&cs_main.speed_theta, speed); speed_control_set_speed (&cs_main.speed_alpha, 0); if (!left && !right) @@ -274,6 +280,7 @@ traj_ptw_start (uint8_t backward, int32_t init_x, int32_t init_y, static void traj_gtd (void) { +#ifdef CONTACT_CENTER_IO int8_t speed; speed = cs_main.speed_theta.slow; if (IO_GET (CONTACT_CENTER_IO)) @@ -289,15 +296,18 @@ traj_gtd (void) control_state_finished (&cs_main.state); traj_mode = TRAJ_DONE; } +#endif /* CONTACT_CENTER_IO */ } /** Start go to the dispenser mode. */ void traj_gtd_start (void) { +#ifdef CONTACT_CENTER_IO traj_mode = TRAJ_GTD; control_state_set_mode (&cs_main.state, CS_MODE_TRAJ_CONTROL, CS_MODE_POS_CONTROL_ALPHA); +#endif /* CONTACT_CENTER_IO */ } /** Go to position mode. */ -- cgit v1.2.3