Diff: Processes/AI/ai.cpp

Revision:

84:00c799fd10a7

Parent:

83:223186cd7531

Child:

85:b0858346d838

--- a/Processes/AI/ai.cpp	Mon Apr 15 22:28:07 2013 +0000
+++ b/Processes/AI/ai.cpp	Tue Apr 16 10:05:58 2013 +0000
@@ -129,7 +129,7 @@
         if(layer_to_push == top_layer)
         {
             ColourEnum colour_read = c_upper.getColour();
-            if (colour_read==own_colour)
+            if ((colour_read==own_colour) && MotorControl::motorsenabled)
             {
                 arm::upper_arm.go_down();
                 top_arm_up_timer.start(1200);
@@ -138,7 +138,7 @@
         else
         {
             ColourEnum colour_read = c_lower.getColour();
-            if (colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/)
+            if ((colour_read==own_colour || i==5 || i==7 || i==8 || i==10/*|| colour_read==WHITE*/) && MotorControl::motorsenabled)
             {
                 arm::lower_arm.go_down();
                 bottom_arm_up_timer.start(1200);
@@ -227,22 +227,25 @@
         switch(action[i])
         {
             case top_push_colour:
-                if (c_upper.getColour()==own_colour)
+                if ((c_upper.getColour()==own_colour) && MotorControl::motorsenabled)
                 {
                     arm::upper_arm.go_down();
                     top_arm_up_timer.start(1200);
                 }
             break;
             case bot_push_colour:
-                if (c_lower.getColour()==own_colour)
+                if ((c_lower.getColour()==own_colour) && MotorControl::motorsenabled)
                 {
                     arm::lower_arm.go_down();
                     bottom_arm_up_timer.start(1200);
                 }
             break;
             case bot_push_white:
-                arm::lower_arm.go_down();
-                bottom_arm_up_timer.start(1200);
+                if (MotorControl::motorsenabled)
+                {
+                    arm::lower_arm.go_down();
+                    bottom_arm_up_timer.start(1200);
+                }
             break;            
         }