From 4d446fb2c1d14142304971095ee60668ba9c6bc5 Mon Sep 17 00:00:00 2001 From: lonkaars Date: Wed, 29 Jun 2022 09:34:54 +0200 Subject: [WIP] last touches for second assessment --- robot/io.c | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'robot/io.c') diff --git a/robot/io.c b/robot/io.c index 8add1e9..9977e2f 100644 --- a/robot/io.c +++ b/robot/io.c @@ -27,11 +27,13 @@ void w2_io_object_detection() { if (front_distance <= W2_IO_DISTANCE_FAR_THRESHOLD) g_w2_io_object_detected = false; if (w2_hypervisor_time_end(W2_TIMER_OBJECT_DETECTION) >= W2_IO_DISTANCE_TOO_CLOSE_TIMEOUT) w2_errcatch_throw(W2_E_CRIT_OBSTACLE_STUCK); - - set_motors(0, 0); } } +void w2_set_motors(int left, int right) { + set_motors(left * (1 - g_w2_io_object_detected), right * (1 - g_w2_io_object_detected)); +} + void w2_io_battery_logic() { if (w2_hypervisor_time_end(W2_TIMER_BATTERY_MEASUREMENT) <= W2_BATTERY_MEAS_FREQ) return; w2_hypervisor_time_start(W2_TIMER_BATTERY_MEASUREMENT); -- cgit v1.2.3