robofsm: Use bumper (back switch) by default

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index a777c66df9e041cbf69f2b35c53a591623d80e7a..363f44aaf336f5b8c825cdd688374a6dd9e7302a 100644 (file)
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -98,11 +98,10 @@ void *timing_thread(void *arg)
                clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL); \
        } while(0)
 
-       WAIT(5);
-       // FIXME: any better solution?
-       // microswitch (backside opponent detector), ignore it while at starting point
-       robot.use_back_switch = true;
-       printf("Back switch not ignored\n");
+//     WAIT(5);
+//     // microswitch (backside opponent detector), ignore it while at starting point
+//     robot.use_back_switch = true;
+//     printf("Back switch not ignored\n");
 
        WAIT(TIME_TO_DEPOSITE);
        short_time_to_end = true;

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index 728ad8a2857f8d2095071f63cf669b360db7a939..247f64acfca553a3b8bde4dd09341ced8ef6c901 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -182,7 +182,7 @@ int robot_init()
        */
 
        robot.obstacle_avoidance_enabled = true;
-       robot.use_back_switch = false; /* Switched on sime time after start */
+       robot.use_back_switch = true;
        robot.state = POWER_ON;
 
        /* init ORTE domain, create publishers, subscribers, .. */