From bcaf3117b0e0c7c4dc8bf5442637d2639a92989a Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 8 Apr 2013 22:03:33 +0200 Subject: digital/io-hub/src/apbirthday: detect obstacles when following the cake --- digital/io-hub/src/apbirthday/strat.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'digital/io-hub/src/apbirthday/strat.cc') diff --git a/digital/io-hub/src/apbirthday/strat.cc b/digital/io-hub/src/apbirthday/strat.cc index 9c08f43d..e93eaeff 100644 --- a/digital/io-hub/src/apbirthday/strat.cc +++ b/digital/io-hub/src/apbirthday/strat.cc @@ -37,12 +37,12 @@ Strat::decision_candles (CandlesDecision &decision, uint16_t robot_angle) // TODO: this is a stub. if (robot_angle > G_ANGLE_UF016_DEG (-90)) { - decision.direction = Asserv::BACKWARD; + decision.dir_sign = -1; decision.end_angle = G_ANGLE_UF016_DEG (180 + 180. / 6); } else { - decision.direction = Asserv::FORWARD; + decision.dir_sign = 1; decision.end_angle = G_ANGLE_UF016_DEG (-180. / 6); } return true; -- cgit v1.2.3