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Diffstat (limited to 'digital/io/src/hola.c')
-rw-r--r--digital/io/src/hola.c12
1 files changed, 2 insertions, 10 deletions
diff --git a/digital/io/src/hola.c b/digital/io/src/hola.c
index af663c4a..a53980a1 100644
--- a/digital/io/src/hola.c
+++ b/digital/io/src/hola.c
@@ -60,22 +60,18 @@ FSM_START_WITH (HOLA_IDLE)
FSM_TRANS (HOLA_IDLE, start, HOLA_WAIT_HOLA)
{
- return FSM_NEXT (HOLA_IDLE, start);
}
FSM_TRANS (HOLA_WAIT_HOLA, hola_start, HOLA_WAIT_JACK_IN)
{
- return FSM_NEXT (HOLA_WAIT_HOLA, hola_start);
}
FSM_TRANS (HOLA_WAIT_JACK_IN, jack_inserted_into_bot, HOLA_WAIT_JACK_OUT)
{
- return FSM_NEXT (HOLA_WAIT_JACK_IN, jack_inserted_into_bot);
}
FSM_TRANS (HOLA_WAIT_JACK_OUT, jack_removed_from_bot, HOLA_ROUNDS)
{
- return FSM_NEXT (HOLA_WAIT_JACK_OUT, jack_removed_from_bot);
}
FSM_TRANS (HOLA_ROUNDS, asserv_last_cmd_ack,
@@ -96,14 +92,14 @@ FSM_TRANS (HOLA_ROUNDS, asserv_last_cmd_ack,
mimot_move_motor1_absolute (dx, BOT_CLAMP_SPEED);
asserv_move_motor0_absolute (dy, BOT_ELEVATOR_SPEED);
hola_angle += 0x1000000 / (225 / 12);
- return FSM_NEXT (HOLA_ROUNDS, asserv_last_cmd_ack, no_timeout);
+ return FSM_BRANCH (no_timeout);
}
else
{
asserv_set_speed (0x10, 0x1c, 0x10, 0x1c);
asserv_move_motor0_absolute (BOT_ELEVATOR_REST_STEP, BOT_ELEVATOR_SPEED / 3);
asserv_move_angularly (POSITION_A_DEG (174));
- return FSM_NEXT (HOLA_ROUNDS, asserv_last_cmd_ack, timeout);
+ return FSM_BRANCH (timeout);
}
}
@@ -112,21 +108,18 @@ FSM_TRANS (HOLA_UP, bot_move_succeed, HOLA_CENTER)
asserv_set_speed (0x10, 0x20, 0x10, 0x20);
asserv_move_angularly (POSITION_A_DEG (-90));
asserv_move_motor0_absolute (BOT_ELEVATOR_REST_STEP / 2, BOT_ELEVATOR_SPEED);
- return FSM_NEXT (HOLA_UP, bot_move_succeed);
}
FSM_TRANS (HOLA_CENTER, bot_move_succeed, HOLA_CLAP_CLOSE)
{
mimot_motor0_clamp (BOT_CLAMP_ZERO_SPEED, 0);
mimot_motor1_clamp (BOT_CLAMP_ZERO_SPEED, 0);
- return FSM_NEXT (HOLA_CENTER, bot_move_succeed);
}
FSM_TRANS (HOLA_CLAP_CLOSE, clamp_succeed, HOLA_CLAP_OPEN)
{
mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED);
mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED);
- return FSM_NEXT (HOLA_CLAP_CLOSE, clamp_succeed);
}
/*
@@ -136,5 +129,4 @@ FSM_TRANS (HOLA_CLAP_OPEN, clamp_succeed, HOLA_CLAP_CLOSE)
{
mimot_motor0_clamp (BOT_CLAMP_SPEED, 0);
mimot_motor1_clamp (BOT_CLAMP_SPEED, 0);
- return FSM_NEXT (HOLA_CLAP_OPEN, clamp_succeed);
}