diff options
Diffstat (limited to 'robot/mode_grid.c')
| -rw-r--r-- | robot/mode_grid.c | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/robot/mode_grid.c b/robot/mode_grid.c index ff80dd2..b6ed572 100644 --- a/robot/mode_grid.c +++ b/robot/mode_grid.c @@ -1,9 +1,13 @@ +#include <stdio.h> +#include <string.h> + #include "mode_grid.h" #include "hypervisor.h" #include "io.h" #include "modes.h" #include "movement.h" #include "orangutan_shim.h" +#include "../shared/errcatch.h" /** * TODO: mode_grid g_w2_target_area laten volgen @@ -204,6 +208,11 @@ void w2_turn_east() { // signals when the product is picked void w2_arrived_message() { if (g_w2_location.x == g_w2_destination.x && g_w2_location.y == g_w2_destination.y) { + char msg[64]; + sprintf(msg, "reached %i, %i", g_w2_destination.x, g_w2_destination.y); + size_t len = strlen(msg); + w2_errcatch_throw_msg(W2_E_INFO_ORDER_ARRIVED, len, msg); + play_frequency(400, 500, 7); delay(500); } |