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authorNicolas Schodet2013-04-28 19:13:30 +0200
committerNicolas Schodet2013-04-28 19:24:44 +0200
commitc42d124dea4a94ecfa7bd0f075356b13e0252b9d (patch)
tree4c43ed7591583394050e0913ef0ccb4e54d252de /digital/io-hub/src/apbirthday
parent9352db823296a7778f70f03f74eb45f1eb4da003 (diff)
digital/io-hub/src/apbirthday: also accept demo after actuators init
Diffstat (limited to 'digital/io-hub/src/apbirthday')
-rw-r--r--digital/io-hub/src/apbirthday/top.cc12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc
index abeea023..84e7be1a 100644
--- a/digital/io-hub/src/apbirthday/top.cc
+++ b/digital/io-hub/src/apbirthday/top.cc
@@ -525,6 +525,18 @@ FSM_TRANS (TOP_START, top_demo_follow, TOP_DEMO_FOLLOW)
? Asserv::FORWARD : Asserv::BACKWARD);
}
+FSM_TRANS (TOP_INIT_ACTUATORS, top_demo_follow, TOP_DEMO_FOLLOW)
+{
+ robot->asserv.follow (top.candles.dir_sign == 1
+ ? Asserv::FORWARD : Asserv::BACKWARD);
+}
+
+FSM_TRANS (TOP_DEMO_FOLLOW, top_demo_follow, TOP_DEMO_FOLLOW)
+{
+ robot->asserv.follow (top.candles.dir_sign == 1
+ ? Asserv::FORWARD : Asserv::BACKWARD);
+}
+
FSM_TRANS (TOP_DEMO_FOLLOW, top_follow_finished, TOP_DEMO_FOLLOW)
{
// Transition needed for top_update.