From 91700c4a88361d0a10f920c91f7452020ab7f9b7 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 18 May 2012 17:37:46 +0200 Subject: digital/io-hub/src/guybrush: add extra timeout for last resort safety --- digital/io-hub/src/guybrush/top.c | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c index eb1cc0a5..8bda0462 100644 --- a/digital/io-hub/src/guybrush/top.c +++ b/digital/io-hub/src/guybrush/top.c @@ -465,6 +465,12 @@ FSM_TRANS (TOP_TOTEM_CLEAN_STARTING, clamp_blocked, return FSM_NEXT (TOP_TOTEM_CLEAN_STARTING, clamp_blocked); } +FSM_TRANS_TIMEOUT (TOP_TOTEM_CLEAN_STARTING, 5 * 250, TOP_DECISION) +{ + strat_bad_failure (); + return FSM_NEXT_TIMEOUT (TOP_TOTEM_CLEAN_STARTING); +} + FSM_TRANS (TOP_TOTEM_CLEAN_CATCH_WAITING, clamp_blocked, TOP_TOTEM_CLAMP_ERROR_GOING_BACK) { @@ -489,6 +495,12 @@ FSM_TRANS (TOP_TOTEM_CLAMP_DOWNING, clamp_blocked, return FSM_NEXT (TOP_TOTEM_CLAMP_DOWNING, clamp_blocked); } +FSM_TRANS_TIMEOUT (TOP_TOTEM_CLAMP_DOWNING, 5 * 250, TOP_DECISION) +{ + strat_bad_failure (); + return FSM_NEXT_TIMEOUT (TOP_TOTEM_CLAMP_DOWNING); +} + FSM_TRANS (TOP_TOTEM_APPROACHING, robot_move_failure, TOP_TOTEM_ERROR_GOING_BACK) { -- cgit v1.2.3