Revision: 8643
http://playerstage.svn.sourceforge.net/playerstage/?rev=8643&view=rev
Author: thjc
Date: 2010-05-03 17:34:19 +0000 (Mon, 03 May 2010)
Log Message:
-----------
Applied patch 2965602: roomba: bumplock problem on faster onboard computers
Modified Paths:
--------------
code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_driver.cc
Modified: code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_driver.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_driver.cc
2010-05-03 17:32:28 UTC (rev 8642)
+++ code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_driver.cc
2010-05-03 17:34:19 UTC (rev 8643)
@@ -313,11 +313,14 @@
}
if ((this->bumplock) && ((this->roomba_dev->bumper_left) ||
(this->roomba_dev->bumper_right)))
{
- this->bumplocked = true;
- if (roomba_set_speeds(this->roomba_dev, 0.0, 0.0) < 0)
- {
- PLAYER_ERROR("failed to stop roomba");
- }
+ if (!(this->bumplocked))
+ {
+ this->bumplocked = true;
+ if (roomba_set_speeds(this->roomba_dev, 0.0, 0.0) < 0)
+ {
+ PLAYER_ERROR("failed to stop roomba");
+ }
+ }
}
else this->bumplocked = false;
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