+ a = DEG(posa);
+
+ /* some issues with blocking on simulator */
+#ifdef HOST_VERSION
+ if (x == ROBOT_HALF_LENGTH_REAR)
+ x = ROBOT_HALF_LENGTH_REAR + 10;
+ if (x == AREA_X - ROBOT_HALF_LENGTH_REAR)
+ x = AREA_X - ROBOT_HALF_LENGTH_REAR - 10;
+ if (y == ROBOT_HALF_LENGTH_REAR)
+ y = ROBOT_HALF_LENGTH_REAR + 10;
+ if (y == AREA_Y - ROBOT_HALF_LENGTH_REAR)
+ y = AREA_Y - ROBOT_HALF_LENGTH_REAR - 10;
+ if (x == ROBOT_HALF_LENGTH_FRONT)
+ x = ROBOT_HALF_LENGTH_FRONT + 10;
+ if (x == AREA_X - ROBOT_HALF_LENGTH_FRONT)
+ x = AREA_X - ROBOT_HALF_LENGTH_FRONT - 10;
+ if (y == ROBOT_HALF_LENGTH_FRONT)
+ y = ROBOT_HALF_LENGTH_FRONT + 10;
+ if (y == AREA_Y - ROBOT_HALF_LENGTH_FRONT)
+ y = AREA_Y - ROBOT_HALF_LENGTH_FRONT - 10;
+#endif