From dbbce723e0a125d875561d14766e5b4b690c3650 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 21 Sep 2011 20:11:23 +0200 Subject: digital/io-hub/src/robospierre: hacks for the IDF finals --- digital/io-hub/src/robospierre/top.c | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) (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 93fb447f..f8e0d342 100644 --- a/digital/io-hub/src/robospierre/top.c +++ b/digital/io-hub/src/robospierre/top.c @@ -101,6 +101,7 @@ struct top_t top_global; FSM_TRANS (TOP_START, init_start_round, TOP_GOING_OUT1) { element_init (); + ctx.broken = 1; ctx.green_again = 3; asserv_goto (PG_X (PG_GREEN_WIDTH_MM + 100), PG_Y (PG_LENGTH - 200), 0); @@ -153,18 +154,18 @@ top_go_element (void) asserv_get_position (&robot_pos); ctx.target_element_id = element_best (robot_pos); element_t e = element_get (ctx.target_element_id); - if (!ctx.broken) + if (e.attr & ELEMENT_GREEN) { - if (e.attr & ELEMENT_GREEN) - { + if (!ctx.broken) logistic_global.prepare = 0; - pawn_sensor_bumper_enable (0); - } else - { logistic_global.prepare = top_prepare_level (); - pawn_sensor_bumper_enable (1); - } + 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); @@ -179,8 +180,7 @@ top_go_drop (void) ctx.target_element_id = element_unload_best (robot_pos); position_t drop_pos; drop_pos.v = element_get_pos (ctx.target_element_id); - if (!ctx.broken) - logistic_global.prepare = top_prepare_level (); + logistic_global.prepare = top_prepare_level (); pawn_sensor_bumper_enable (0); uint8_t backward = logistic_global.collect_direction == DIRECTION_FORWARD ? 0 : ASSERV_BACKWARD; -- cgit v1.2.3