2014 Eurobot fork
Dependencies: mbed-rtos mbed QEI
Diff: Processes/AI/ai.cpp
- Revision:
- 84:00c799fd10a7
- Parent:
- 83:223186cd7531
- Child:
- 85:b0858346d838
diff -r 223186cd7531 -r 00c799fd10a7 Processes/AI/ai.cpp --- a/Processes/AI/ai.cpp Mon Apr 15 22:28:07 2013 +0000 +++ b/Processes/AI/ai.cpp Tue Apr 16 10:05:58 2013 +0000 @@ -129,7 +129,7 @@ if(layer_to_push == top_layer) { ColourEnum colour_read = c_upper.getColour(); - if (colour_read==own_colour) + if ((colour_read==own_colour) && MotorControl::motorsenabled) { arm::upper_arm.go_down(); top_arm_up_timer.start(1200); @@ -138,7 +138,7 @@ else { ColourEnum colour_read = c_lower.getColour(); - if (colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/) + if ((colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/) && MotorControl::motorsenabled) { arm::lower_arm.go_down(); bottom_arm_up_timer.start(1200); @@ -227,22 +227,25 @@ switch(action[i]) { case top_push_colour: - if (c_upper.getColour()==own_colour) + if ((c_upper.getColour()==own_colour) && MotorControl::motorsenabled) { arm::upper_arm.go_down(); top_arm_up_timer.start(1200); } break; case bot_push_colour: - if (c_lower.getColour()==own_colour) + if ((c_lower.getColour()==own_colour) && MotorControl::motorsenabled) { arm::lower_arm.go_down(); bottom_arm_up_timer.start(1200); } break; case bot_push_white: - arm::lower_arm.go_down(); - bottom_arm_up_timer.start(1200); + if (MotorControl::motorsenabled) + { + arm::lower_arm.go_down(); + bottom_arm_up_timer.start(1200); + } break; }