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authorMaxime Hadjinlian2013-05-08 19:57:30 +0200
committerNicolas Schodet2013-05-09 05:58:22 +0200
commit345657ed402bb98c36487bd270169a6712a6e9db (patch)
treecf61248fa1e297d41bb1b0705aab5c83be4bea4a /digital/io-hub/src/apbirthday
parent89fa4dc287106fa0be4bd35cc68af6b1d59e56cb (diff)
digital/io-hub/src/apbirthday: remove router FSM
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/cannon.cc52
-rw-r--r--digital/io-hub/src/apbirthday/cannon.hh1
2 files changed, 0 insertions, 53 deletions
diff --git a/digital/io-hub/src/apbirthday/cannon.cc b/digital/io-hub/src/apbirthday/cannon.cc
index 3b733d19..33e17590 100644
--- a/digital/io-hub/src/apbirthday/cannon.cc
+++ b/digital/io-hub/src/apbirthday/cannon.cc
@@ -48,11 +48,6 @@ inline void Cannon::set_servo_pos (int pos)
robot->hardware.servos.set_position (Servo::SERVO_CHERRY, pos);
}
-inline void Cannon::set_router_state (int state)
-{
- // Set router to OPEN or CLOSE
-}
-
// Trap FSM
FSM_STATES (CANNON_TRAP_OFF,
CANNON_TRAP_BLOCK,
@@ -94,53 +89,6 @@ FSM_TRANS (CANNON_TRAP_MOVE_2, cannon_fire_ok, CANNON_TRAP_BLOCK)
Cannon::set_servo_pos (Cannon::BLOCK);
}
-
-// Router FSM
-
-FSM_STATES (CANNON_ROUTER_OFF,
- CANNON_ROUTER_SLEEPING,
- CANNON_ROUTER_TRACKING,
- CANNON_ROUTER_PUSHING)
-
-FSM_START_WITH (CANNON_ROUTER_OFF)
-
-FSM_TRANS (CANNON_ROUTER_OFF, init_actuators, CANNON_ROUTER_SLEEPING)
-{
- robot->cannon.set_router_state (Cannon::OPEN);
-}
-
-FSM_TRANS (CANNON_ROUTER_SLEEPING, cannon_fire, CANNON_ROUTER_TRACKING)
-{
- // We do nothing here
-}
-
-FSM_TRANS (CANNON_ROUTER_TRACKING, cannon_fire_ok, CANNON_ROUTER_SLEEPING)
-{
- // We do nothing here.
-}
-
-FSM_TRANS_TIMEOUT (CANNON_ROUTER_TRACKING, 250,
- nothing_to_push, CANNON_ROUTER_TRACKING,
- destroy, CANNON_ROUTER_PUSHING)
-{
- // Check if we have something to push or not
- // return FSM_BRANCH(nothing_to_push);
- return FSM_BRANCH(destroy);
- // If we have something to push, push next event
-}
-
-FSM_TRANS_TIMEOUT (CANNON_ROUTER_PUSHING, 250, CANNON_ROUTER_TRACKING)
-{
- // Open the router after the timeout
- robot->cannon.set_router_state (Cannon::OPEN);
-}
-
-FSM_TRANS (CANNON_ROUTER_PUSHING, cannon_fire_ok, CANNON_ROUTER_SLEEPING)
-{
- // Open router
- robot->cannon.set_router_state (Cannon::OPEN);
-}
-
// Cannon main FSM
FSM_STATES (CANNON_OFF,
diff --git a/digital/io-hub/src/apbirthday/cannon.hh b/digital/io-hub/src/apbirthday/cannon.hh
index a8c0ce26..d4907eae 100644
--- a/digital/io-hub/src/apbirthday/cannon.hh
+++ b/digital/io-hub/src/apbirthday/cannon.hh
@@ -44,7 +44,6 @@ class Cannon
static void blower_off ();
static void blower_on ();
static void set_servo_pos (int pos);
- void set_router_state (int state);
};
#endif // cannon_hh