irrational unblocking, low speed obstacle bug and spicke pack when y too big

[aversive.git] / projects / microb2010 / mainboard / robotsim.c

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index bf4b731..6971155 100644 (file)
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -54,6 +54,8 @@
 #include "strat_utils.h"
 #include "main.h"
 
+uint8_t robotsim_blocking = 0;
+
 static int32_t l_pwm, r_pwm;
 static int32_t l_enc, r_enc;
 
@@ -264,6 +266,8 @@ void robotsim_update(void)
                pertl = 1;
        else if (cmd[0] == 'r')
                pertr = 1;
+       else if (cmd[0] == 'b')
+               robotsim_blocking = 1;
        if (cmd[0] == 'o') {
                if (sscanf(cmd, "opp %d %d", &oppx, &oppy) == 2) {
                        abs_xy_to_rel_da(oppx, oppy, &oppd, &oppa);