From 4be6d049be415eb0f0c8e9b1f64faea00f0f77fb Mon Sep 17 00:00:00 2001
From: kmetykog <kmetykog@30fe4595-0a0c-4342-8851-515496e4dcbd>
Date: Tue, 31 Jan 2012 08:00:59 +0000
Subject: [PATCH] Re #183: Kilo robot headlight handling

git-svn-id: https://svn.code.sf.net/p/speed-dreams/code/trunk@4465 30fe4595-0a0c-4342-8851-515496e4dcbd

Former-commit-id: 1b0bf1b93ccf7b967925ab967641ae240a09b44f
Former-commit-id: 6b3269ee7455ca39d0ce8799172fcb50f7850199
---
 src/drivers/kilo2008/kdriver.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/src/drivers/kilo2008/kdriver.cpp b/src/drivers/kilo2008/kdriver.cpp
index f7cde7728..3ed610d0c 100644
--- a/src/drivers/kilo2008/kdriver.cpp
+++ b/src/drivers/kilo2008/kdriver.cpp
@@ -1697,10 +1697,13 @@ void KDriver::SetMode(int newmode) {
         current_light = RM_LIGHT_HEAD2;
         break;
       case AVOIDING:
-        current_light = RM_LIGHT_HEAD1;
+        if (static_cast<int>(current_sim_time_ * 2.0) % 2 == 0)
+          current_light = RM_LIGHT_HEAD1 | RM_LIGHT_HEAD2;
+        else
+          current_light = RM_LIGHT_HEAD1;
         break;
       default:
-        current_light = RM_LIGHT_HEAD1 | RM_LIGHT_HEAD2;
+        current_light = RM_LIGHT_HEAD1;
         break;
     }
   }  // mode_ != newmode