X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fi2c_protocol.c;fp=projects%2Fmicrob2010%2Fballboard%2Fi2c_protocol.c;h=3f5a2ebc05604e48e674fa1ea3705383058fa24e;hp=f9e9b554bab378e031937675f06b061dd906c364;hb=9d056416278ae5d772a0fc1f7d2d11a4461fb673;hpb=d10eb76208e401ae2c4dc44de2f96cdcf2e7e4ac

diff --git a/projects/microb2010/ballboard/i2c_protocol.c b/projects/microb2010/ballboard/i2c_protocol.c
index f9e9b55..3f5a2eb 100644
--- a/projects/microb2010/ballboard/i2c_protocol.c
+++ b/projects/microb2010/ballboard/i2c_protocol.c
@@ -47,6 +47,7 @@
 #include "../common/i2c_commands.h"
 #include "main.h"
 #include "state.h"
+#include "sensor.h"
 #include "actuator.h"
 
 void i2c_protocol_init(void)
@@ -75,6 +76,8 @@ void i2c_send_status(void)
 	ans.hdr.cmd =  I2C_ANS_BALLBOARD_STATUS;
 	ans.status = 0x55; /* XXX */
 	ans.ball_count = state_get_ball_count();
+	ans.lcob = cob_detect_left();
+	ans.rcob = cob_detect_right();
 
 	i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
 		 sizeof(ans), I2C_CTRL_GENERIC);