From 618872c7705a7f71afe77cd13b694a07660ebcb8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 4 Jun 2011 02:48:28 +0200 Subject: digital/io-hub: conditionaly enable bumpers --- digital/io-hub/src/robospierre/top.c | 7 +++++++ 1 file changed, 7 insertions(+) (limited to 'digital/io-hub/src/robospierre/top.c') diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c index 7e3f4413..f4afaa17 100644 --- a/digital/io-hub/src/robospierre/top.c +++ b/digital/io-hub/src/robospierre/top.c @@ -153,9 +153,15 @@ top_go_element (void) if (!ctx.broken) { if (e.attr & ELEMENT_GREEN) + { logistic_global.prepare = 0; + pawn_sensor_bumper_enable (0); + } else + { logistic_global.prepare = top_prepare_level (); + pawn_sensor_bumper_enable (1); + } } vect_t element_pos = element_get_pos (ctx.target_element_id); top_go_this_element (element_pos, 0); @@ -172,6 +178,7 @@ top_go_drop (void) drop_pos.v = element_get_pos (ctx.target_element_id); if (!ctx.broken) logistic_global.prepare = top_prepare_level (); + pawn_sensor_bumper_enable (0); uint8_t backward = logistic_global.collect_direction == DIRECTION_FORWARD ? 0 : ASSERV_BACKWARD; /* Go above or below the drop point. */ -- cgit v1.2.3