From f409e9a7eeef4bbccd782931c296ff9cde079487 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 22:26:49 +0200 Subject: digital/io/src: hacks for first round --- digital/io/src/ai_top_cb.c | 24 +++++++++++++++++++----- 1 file changed, 19 insertions(+), 5 deletions(-) (limited to 'digital/io/src/ai_top_cb.c') diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c index 173df388..c4a698cf 100644 --- a/digital/io/src/ai_top_cb.c +++ b/digital/io/src/ai_top_cb.c @@ -307,18 +307,17 @@ ai__UNLOAD_BACK_BIN__bot_move_failed (void) /* * UNLOAD_UNLOAD =state_timeout=> - * => COLLECT + * => HACK_MATCH1 * close gate - * loader down - * choose best food to collect + * move to hack position */ fsm_branch_t ai__UNLOAD_UNLOAD__state_timeout (void) { loader_elements = 0; asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); - loader_down (); - top_collect (1); + position_t pos = PG_POSITION_DEG (2400, 378, 29); + move_start (pos, 0); return ai_next (UNLOAD_UNLOAD, state_timeout); } @@ -350,3 +349,18 @@ ai__COLLECT__move_fsm_failed (void) return ai_next_branch (COLLECT, move_fsm_failed, unload); } +/* + * HACK_MATCH1 =move_fsm_succeed=> + * => COLLECT + * loader down + * choose best food to collect + */ +fsm_branch_t +ai__HACK_MATCH1__move_fsm_succeed (void) +{ + loader_down (); + top_collect (1); + loader_choucroute = 1; + return ai_next (HACK_MATCH1, move_fsm_succeed); +} + -- cgit v1.2.3