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authorNicolas Haller2009-05-22 02:51:46 +0200
committerNicolas Haller2009-05-22 02:51:46 +0200
commita14c2c58d9132b444e7db5e2278d84f585444148 (patch)
treeda73c42f78834a23824000e6841f33d260760b17 /digital/io/src/main.c
parenta671973979b86e1bc19d2d3adc69c691ff96255f (diff)
* digital/io/src:
- fix of_probe on distributor mode (cylinder fsm) - improve pucks detection between fb and elevator
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c11
1 files changed, 10 insertions, 1 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 869d124e..23d70b5a 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -217,6 +217,15 @@ main_event_to_fsm (void)
CYLINDER_EVENT_move_done);
}
+ /* check of status */
+ if (asserv_arm_of_status())
+ FSM_HANDLE_EVENT (&cylinder_fsm,
+ CYLINDER_EVENT_of_puck);
+ else
+ FSM_HANDLE_EVENT (&cylinder_fsm,
+ CYLINDER_EVENT_of_no_puck);
+
+
/* FIXME: use general setting ack. */
/* send event if elevator received an order */
if (elvt_order)
@@ -240,7 +249,7 @@ main_event_to_fsm (void)
if(fb_nb_puck < 2)
FSM_HANDLE_EVENT (&cylinder_fsm,
CYLINDER_EVENT_bridge_ready);
- if(!fb_nb_puck && elvt_order)
+ if(elvt_order)
FSM_HANDLE_EVENT (&elevator_fsm,
ELEVATOR_EVENT_order_bypass);