From 3e563d4b1282c7d1bbeb76c69f39d5c684fef3c2 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 29 May 2010 17:00:27 +0200 Subject: digital/io/src: ignore bumpers when clamp is too high --- digital/io/src/main.c | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'digital/io/src') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index 43ba07ad..35ee83c1 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -195,7 +195,8 @@ main_event_to_fsm (void) FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_elevator_unload_position); /* Contacts. */ - if (!IO_GET (CONTACT_BUMPER0) || !IO_GET (CONTACT_BUMPER1)) + if (asserv_get_motor0_position () < BOT_ELEVATOR_REST_STEP + && (!IO_GET (CONTACT_BUMPER0) || !IO_GET (CONTACT_BUMPER1))) FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_loader_element); if (!IO_GET (CONTACT_STRATEGY)) { -- cgit v1.2.3