From d5c9ae0c043887ac7b68f13aa300761fcbb0b008 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Jun 2011 03:37:57 +0200 Subject: digital/io-hub: do not detect tower in green zone --- digital/io-hub/src/robospierre/clamp.c | 6 ++++++ 1 file changed, 6 insertions(+) (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 e385d876..cb6d9e3b 100644 --- a/digital/io-hub/src/robospierre/clamp.c +++ b/digital/io-hub/src/robospierre/clamp.c @@ -30,6 +30,7 @@ #include "contact.h" #include "bot.h" #include "element.h" +#include "playground.h" #define FSM_NAME AI #include "fsm.h" @@ -489,6 +490,11 @@ clamp_tower_check (void) && ctx.pos_current == from && logistic_global.slots[from] == ELEMENT_PAWN) { + /* Check for green zone. */ + position_t robot_pos; + asserv_get_position (&robot_pos); + if (robot_pos.v.x < 450 || robot_pos.v.x > PG_WIDTH - 450) + return 0; /* Look tower contact. */ uint8_t contact_tower; if (from == CLAMP_SLOT_FRONT_BOTTOM) -- cgit v1.2.3