From d5ca3805ed0eb4829b491352a31165b9fd58b15e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 3 Jun 2011 08:24:48 +0200 Subject: digital/io-hub: handle bumpers --- digital/io-hub/src/robospierre/main.c | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'digital/io-hub/src/robospierre/main.c') diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c index 1e12c427..9ae644e6 100644 --- a/digital/io-hub/src/robospierre/main.c +++ b/digital/io-hub/src/robospierre/main.c @@ -41,6 +41,7 @@ #include "pwm.h" #include "contact.h" #include "codebar.h" +#include "pawn_sensor.h" #include "radar.h" #define FSM_NAME AI @@ -207,6 +208,7 @@ main_loop (void) /* Update IO modules. */ pwm_update (); contact_update (); + pawn_sensor_update (); if (usdist_update ()) { position_t robot_pos; @@ -234,7 +236,7 @@ main_loop (void) } if (main_stats_contact_ && !--main_stats_contact_cpt_) { - proto_send1d ('P', contact_all ()); + proto_send1d ('P', contact_all () | (uint32_t) mimot_get_input () << 24); main_stats_contact_cpt_ = main_stats_contact_; } if (main_stats_codebar_ && !--main_stats_codebar_cpt_) -- cgit v1.2.3