From 20d29c23e7b6fc011636d5f979f4b7261f213359 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 May 2012 06:10:38 +0200 Subject: digital/io-hub/src/guybrush: release goldbar when blocking --- digital/io-hub/src/guybrush/bottom_clamp.c | 9 +++++++++ 1 file changed, 9 insertions(+) (limited to 'digital/io-hub/src/guybrush/bottom_clamp.c') diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index ca44c98b..dd821bae 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -593,6 +593,15 @@ FSM_TRANS(CLAMP_CLOSE_ALL_CLAMPS, robot_is_back,CLAMP_REARRANGE_CD) } +FSM_TRANS (CLAMP_CLOSE_ALL_CLAMPS, stop_tree_approach, CLAMP_READY_TO_EMPTY_TREE) +{ + IO_CLR (OUTPUT_LOWER_CLAMP_1_CLOSE); + IO_CLR (OUTPUT_LOWER_CLAMP_2_CLOSE); + IO_SET (OUTPUT_UPPER_CLAMP_OPEN); + fsm_queue_post_event (FSM_EVENT (AI, clamps_ready)); + return FSM_NEXT (CLAMP_CLOSE_ALL_CLAMPS, stop_tree_approach); +} + FSM_TRANS_TIMEOUT (CLAMP_REARRANGE_CD, TIMEOUT_RECENTRAGE, CLAMP_BOTTOM_CLAMP_HIDE_POS2) { /*Hidding the clamp inside the robot.*/ -- cgit v1.2.3