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authorFlorent Duchon2012-05-16 17:28:12 +0200
committerFlorent Duchon2012-05-16 17:43:11 +0200
commita64fb816764b34b7bee2dc886c7efaa2c8bf0539 (patch)
treec6e011df7eebb7859d261c29e2c64e1d2bb906cf /digital/beacon/src/laser.c
parent36d1bbfc275e6ecb2ff267e224bac7a11f8b245e (diff)
digital/beacon: Improve calibration state machine
Diffstat (limited to 'digital/beacon/src/laser.c')
-rw-r--r--digital/beacon/src/laser.c7
1 files changed, 3 insertions, 4 deletions
diff --git a/digital/beacon/src/laser.c b/digital/beacon/src/laser.c
index bd8be64b..e73c1bd7 100644
--- a/digital/beacon/src/laser.c
+++ b/digital/beacon/src/laser.c
@@ -129,19 +129,18 @@ ISR(TIMER3_COMPB_vect)
{
codewheel_set_rebase_offset(laser_get_angle_raw());
codewheel_set_state(CODEWHEEL_REQUEST_REBASE);
- calibration_set_laser_flag(SET);
}
else
{
/* If mire 1 is spotted */
- if(((laser_get_angle_degree() <= SERVO_1_ANGLE_POSITION + SERVO_ANGLE_POSITION_TOLERANCE) && (laser_get_angle_degree() >= 360 - SERVO_ANGLE_POSITION_TOLERANCE)) && ((servo_get_state(SERVO_1) == SERVO_SCANNING_FAST_IN_PROGRESS) || (servo_get_state(SERVO_1) == SERVO_SCANNING_SLOW_IN_PROGRESS)))
+ if(((laser_get_angle_degree() <= SERVO_1_ANGLE_POSITION + SERVO_ANGLE_POSITION_TOLERANCE) || (laser_get_angle_degree() >= 360 - SERVO_ANGLE_POSITION_TOLERANCE)) && ((servo_get_state(SERVO_1) == SERVO_SCANNING_FAST_IN_PROGRESS) || (servo_get_state(SERVO_1) == SERVO_SCANNING_SLOW_IN_PROGRESS)))
{
- calibration_set_laser_flag(SET);
+ calibration_set_laser_flag(SET_SERVO_1);
}
/* If mire 2 is spotted */
else if(((laser_get_angle_degree() <= SERVO_2_ANGLE_POSITION + SERVO_ANGLE_POSITION_TOLERANCE) && (laser_get_angle_degree() >= SERVO_2_ANGLE_POSITION - SERVO_ANGLE_POSITION_TOLERANCE)) && ((servo_get_state(SERVO_2) == SERVO_SCANNING_FAST_IN_PROGRESS) || (servo_get_state(SERVO_2) == SERVO_SCANNING_SLOW_IN_PROGRESS)))
{
- calibration_set_laser_flag(SET);
+ calibration_set_laser_flag(SET_SERVO_2);
}
}
}