CatPot 2015-2016 / Mbed 2 deprecated CatPot_2v10_T_Main

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Dependencies:   mbed AQM1602 HMC6352 PID

Diff: main_processing/strategy/LineProcess.cpp

Revision:
29:e8bafe48aa90
Parent:
28:f246a5fbf6a5
Child:
30:5998ba42237e
diff -r f246a5fbf6a5 -r e8bafe48aa90 main_processing/strategy/LineProcess.cpp
--- a/main_processing/strategy/LineProcess.cpp	Tue Mar 22 03:58:38 2016 +0000
+++ b/main_processing/strategy/LineProcess.cpp	Tue Mar 22 07:01:10 2016 +0000
@@ -602,7 +602,9 @@
     if(
         (data.lnRawOrderLog2[0]==data.lnRawOrderLog1[0])&&
         (data.lnRawOrderLog2[1]==data.lnRawOrderLog1[1])&&
-        (data.lnRawOrderLog2[2]==data.lnRawOrderLog1[2])
+        //(data.lnRawOrderLog2[2]==data.lnRawOrderLog1[2])
+        (data.lnRawOrderLog2[0]!=LINE_EMPTY)&&
+        (data.lnRawOrderLog2[1]!=LINE_EMPTY)
     ){
         data.lnRepeat=1;
     }
@@ -613,6 +615,7 @@
     if(
         (data.irNotice==IR_NONE)||
         (data.irNotice==IR_FAR)||
+        (data.irValPhase[IR_SHORT]>=DIS_5)||
         (
             (data.ping[L_PING]>=GoalEdgeToWall[X_PING])&&
             (data.ping[R_PING]>=GoalEdgeToWall[X_PING])