From f4fdf2e829ee8e1e5d3167a624280acffa09d7de Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 1 Jun 2012 22:41:57 +0200 Subject: digital/io-hub/src/guybrush: integrate beacon system --- digital/ai/src/utils/chrono.c | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'digital/ai') diff --git a/digital/ai/src/utils/chrono.c b/digital/ai/src/utils/chrono.c index 8560c3e0..d438d4b8 100644 --- a/digital/ai/src/utils/chrono.c +++ b/digital/ai/src/utils/chrono.c @@ -26,6 +26,7 @@ #include "timer.h" #include "asserv.h" +#include "beacon.h" #include "twi_master.h" #include "modules/utils/utils.h" @@ -93,6 +94,11 @@ chrono_remaining_time (void) void chrono_end_match (uint8_t block) { + vect_t v = { 0, 0 }; + /* Stop beacon system. */ + beacon_on (0); + if (AC_AI_TWI_MASTER_BEACON) + beacon_send_position (&v); /* Make the bot stop moving */ asserv_stop_motor (); /* Wait until complete */ -- cgit v1.2.3