Merge branch 'master' of localhost:/home/eurobot/git

diff --git a/src/robofsm/robot_orte.c b/src/robofsm/robot_orte.c
index ffffd66772b0211f50f69e7f74b6a0e266d81592..1e672ada61ba0c15162768957f0994d6da38926d 100644 (file)
--- a/src/robofsm/robot_orte.c
+++ b/src/robofsm/robot_orte.c
@@ -375,13 +375,17 @@ void rcv_robot_switches_cb(const ORTERecvInfo *info, void *vinstance,
                           void *recvCallBackParam)
 {
        struct robot_switches_type *instance = (struct robot_switches_type *)vinstance;
+       static bool last_left, last_right;
        switch (info->status) {
                case NEW_DATA:
                        robot.team_color = instance->team_color;
                        if (instance->bumper_pressed)
                                FSM_SIGNAL(MOTION, EV_OBSTACLE_BEHIND, NULL);
-                       if (instance->bumper_left || instance->bumper_right)
+                       if ((!last_left && instance->bumper_left) ||
+                           (!last_right && instance->bumper_right))
                                FSM_SIGNAL(MOTION, EV_OBSTACLE_SIDE, NULL);
+                       last_right = instance->bumper_right;
+                       last_left = instance->bumper_left;
                        break;
                case DEADLINE:
                        break;