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authorJérémy Dufour2009-05-21 08:18:16 +0200
committerJérémy Dufour2009-05-21 08:18:16 +0200
commit0c140b4d150c6f4629e0d05c29ffb0333b1ea0b6 (patch)
tree485f28d8cadd374c7d4aa1bfc505ae3deeb1771b
parent2a9600f0ff45c000e97708b764800bf796769b30 (diff)
* digital/io/src:
- called cylinder for flush, - close the elevator after unload.
-rw-r--r--digital/io/src/top_cb.c8
1 files changed, 6 insertions, 2 deletions
diff --git a/digital/io/src/top_cb.c b/digital/io/src/top_cb.c
index 1e006617..5590cc9d 100644
--- a/digital/io/src/top_cb.c
+++ b/digital/io/src/top_cb.c
@@ -190,6 +190,9 @@ top__GET_PUCK_FROM_DISTRIBUTOR__move_fsm_failed (void)
else
{
/* Ensure cylinder is closed. */
+ cylinder_close_order = 1;
+ /* Flush cylinder. */
+ cylinder_flush_order = 1;
asserv_position_t position;
/* Go to unload area. */
top_get_next_position_to_unload_puck (&position);
@@ -303,7 +306,7 @@ top__GO_TO_UNLOAD_AREA__move_fsm_failed (void)
fsm_branch_t
top__FUCK_UNLOAD_AREA__bot_move_succeed (void)
{
- /* Close elevator. */
+ /* Unload elevator. */
elvt_order = 3;
return top_next (FUCK_UNLOAD_AREA, bot_move_succeed);
}
@@ -329,6 +332,8 @@ top__FUCK_UNLOAD_AREA__bot_move_failed (void)
fsm_branch_t
top__UNLOAD_PUCKS__elevator_order_done (void)
{
+ /* Close elevator. */
+ elvt_order = 3;
/* Move forward. */
asserv_move_linearly (PG_BORDER_DISTANCE);
return top_next (UNLOAD_PUCKS, elevator_order_done);
@@ -665,7 +670,6 @@ top__CLEAN_FRONT_OF_DISTRIBUTOR__move_fsm_succeed (void)
{
/* Open cylinder. */
cylinder_close_order = 0;
- /* TODO: alete cylinder to open. */
/* Fuck the distributor. */
asserv_go_to_the_wall (0);
return top_next (CLEAN_FRONT_OF_DISTRIBUTOR, move_fsm_succeed);