From 44e19c5b04ae34c912c9c0302c1c43e770e0eef1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 1 Jun 2011 20:52:04 +0200 Subject: digital/io-hub: signal drop to element module --- digital/io-hub/src/robospierre/top.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c index 3a5ef25e..e52c2106 100644 --- a/digital/io-hub/src/robospierre/top.c +++ b/digital/io-hub/src/robospierre/top.c @@ -108,9 +108,9 @@ top_go_drop (void) { position_t robot_pos; asserv_get_position (&robot_pos); - uint8_t drop_pos_id = 43; + ctx.target_element_id = 43; position_t drop_pos; - drop_pos.v = element_get_pos (drop_pos_id); + drop_pos.v = element_get_pos (ctx.target_element_id); uint8_t backward = logistic_global.collect_direction == DIRECTION_FORWARD ? 0 : ASSERV_BACKWARD; /* Go above or below the drop point. */ @@ -205,6 +205,7 @@ FSM_TRANS (TOP_WAITING_READY, clamp_done, TOP_DROP_DROPPING) FSM_TRANS (TOP_DROP_DROPPING, clamp_drop_waiting, TOP_DROP_CLEARING) { + element_down (ctx.target_element_id, ELEMENT_TOWER); asserv_move_linearly (logistic_global.collect_direction == DIRECTION_FORWARD ? 200 : -200); return FSM_NEXT (TOP_DROP_DROPPING, clamp_drop_waiting); -- cgit v1.2.3