From 5c8d716b96d32609d18af5219c541201209e586d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 29 May 2011 19:19:28 +0200 Subject: digital/io-hub: handle element detection on table --- digital/io-hub/src/robospierre/clamp.c | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'digital/io-hub/src/robospierre/clamp.c') diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c index 4c0fc9a7..bae3591d 100644 --- a/digital/io-hub/src/robospierre/clamp.c +++ b/digital/io-hub/src/robospierre/clamp.c @@ -38,6 +38,7 @@ #include "modules/proto/proto.h" #include "logistic.h" +#include "pawn_sensor.h" /* * There is two FSM in this file. @@ -275,16 +276,15 @@ clamp_handle_event (void) { if (FSM_CAN_HANDLE (AI, clamp_new_element)) { - /* XXX: temporary hack. */ - uint8_t element_type = contact_get_color () ? ELEMENT_PAWN : ELEMENT_KING; - if (!IO_GET (CONTACT_FRONT_BOTTOM) - && !logistic_global.slots[CLAMP_SLOT_FRONT_BOTTOM]) + uint8_t element_type; + element_type = pawn_sensor_get (DIRECTION_FORWARD); + if (element_type) { clamp_new_element (CLAMP_SLOT_FRONT_BOTTOM, element_type); return 1; } - if (!IO_GET (CONTACT_BACK_BOTTOM) - && !logistic_global.slots[CLAMP_SLOT_BACK_BOTTOM]) + element_type = pawn_sensor_get (DIRECTION_BACKWARD); + if (element_type) { clamp_new_element (CLAMP_SLOT_BACK_BOTTOM, element_type); return 1; -- cgit v1.2.3