From 906b065a1aa4fa09a1d410ea2979f55252ed2eea Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 26 Apr 2013 23:36:49 +0200 Subject: digital/io-hub/src/apbirthday: prefer backward movement for plates --- digital/io-hub/src/apbirthday/top.cc | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc index 28d95811..0fb37ca1 100644 --- a/digital/io-hub/src/apbirthday/top.cc +++ b/digital/io-hub/src/apbirthday/top.cc @@ -328,7 +328,7 @@ FSM_TRANS_TIMEOUT (TOP_DECISION, 1, return FSM_BRANCH (candles); case Strat::PLATE: robot->strat.decision_plate (top.plate); - robot->move.start (d_pos); + robot->move.start (d_pos, Asserv::BACKWARD_REVERT_OK); return FSM_BRANCH (plate); default: ucoo::assert_unreachable (); @@ -462,7 +462,7 @@ FSM_TRANS (TOP_PLATE_GOTO, move_failure, TOP_DECISION) FSM_TRANS (TOP_PLATE_DROPING, plate_droped, TOP_PLATE_GOTO) { top.plate.drop = false; - robot->move.start (top.plate.approaching_pos); + robot->move.start (top.plate.approaching_pos, Asserv::BACKWARD_REVERT_OK); } FSM_TRANS (TOP_PLATE_APPROACH, move_success, TOP_DECISION) -- cgit v1.2.3