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authorJerome Jutteau2013-05-09 01:16:49 +0200
committerNicolas Schodet2013-05-09 07:50:26 +0200
commit5cac07e12e9200e0e8bc2a2fcdd6f2f865fb6cc1 (patch)
treeee4f5ed28fe343050c6fbb0e9a7a5c4fd85e18bc /digital/io-hub/src/apbirthday
parent8d48f13ae45dc7819d9ddb5e836cd791c25e0a22 (diff)
apbteam/digital/io-hub/src/apbirthday: fix candle fsm
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/candles.cc25
1 files changed, 3 insertions, 22 deletions
diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc
index 2ea3c36d..6139efc1 100644
--- a/digital/io-hub/src/apbirthday/candles.cc
+++ b/digital/io-hub/src/apbirthday/candles.cc
@@ -204,11 +204,8 @@ FSM_STATES (AI_CANDLE_OFF,
AI_CANDLE_WAITING_PRESSURE,
AI_CANDLE_INIT,
AI_CANDLE_SLEEPING,
- AI_CANDLE_DEPLOYING_SERVO,
AI_CANDLE_DEPLOYING_ARM,
- AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_SERVO,
- AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_1,
- AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_2,
+ AI_CANDLE_DEPLOYING_SERVO,
AI_CANDLE_READY,
AI_CANDLE_UNDEPLOYING_SERVO,
AI_CANDLE_UNDEPLOYING_1,
@@ -253,7 +250,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING_ARM, 300, AI_CANDLE_DEPLOYING_SERVO)
FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING_SERVO, 300,
success, AI_CANDLE_READY,
- failure, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_SERVO)
+ failure, AI_CANDLE_UNDEPLOYING_SERVO)
{
// TODO: connect contact.
if (1 || !robot->hardware.cake_arm_out_contact.get ())
@@ -270,22 +267,6 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING_SERVO, 300,
}
}
-FSM_TRANS_TIMEOUT (AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_SERVO, 300,
- AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_1)
-{
- Candles::undeploy_arm_1 ();
-}
-
-FSM_TRANS_TIMEOUT (AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_1, 160, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_2)
-{
- Candles::undeploy_arm_2 ();
-}
-
-FSM_TRANS_TIMEOUT (AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_2, 56, AI_CANDLE_SLEEPING)
-{
- Candles::undeploy_arm_3 ();
-}
-
FSM_TRANS (AI_CANDLE_READY, ai_candle_blow, AI_CANDLE_READY)
{
int i;
@@ -361,7 +342,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_UNDEPLOYING_2, 42, AI_CANDLE_UNDEPLOYING_3)
FSM_TRANS_TIMEOUT (AI_CANDLE_UNDEPLOYING_3, 100,
success, AI_CANDLE_SLEEPING,
- failure, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_SERVO)
+ failure, AI_CANDLE_DEPLOYING_ARM)
{
// TODO: connect contact.
if (1 || !robot->hardware.cake_arm_in_contact.get ())