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authorNicolas Schodet2012-05-17 06:10:38 +0200
committerNicolas Schodet2012-05-17 06:10:38 +0200
commit20d29c23e7b6fc011636d5f979f4b7261f213359 (patch)
tree5e9c2048b6a7f99963406cb42a36da4597459f52 /digital/io-hub/src/guybrush/bottom_clamp.c
parent3ca89203c92272ca9f1de6e24cbcd894b4fefbc3 (diff)
digital/io-hub/src/guybrush: release goldbar when blocking
Diffstat (limited to 'digital/io-hub/src/guybrush/bottom_clamp.c')
-rw-r--r--digital/io-hub/src/guybrush/bottom_clamp.c9
1 files changed, 9 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c
index ca44c98b..dd821bae 100644
--- a/digital/io-hub/src/guybrush/bottom_clamp.c
+++ b/digital/io-hub/src/guybrush/bottom_clamp.c
@@ -593,6 +593,15 @@ FSM_TRANS(CLAMP_CLOSE_ALL_CLAMPS, robot_is_back,CLAMP_REARRANGE_CD)
}
+FSM_TRANS (CLAMP_CLOSE_ALL_CLAMPS, stop_tree_approach, CLAMP_READY_TO_EMPTY_TREE)
+{
+ IO_CLR (OUTPUT_LOWER_CLAMP_1_CLOSE);
+ IO_CLR (OUTPUT_LOWER_CLAMP_2_CLOSE);
+ IO_SET (OUTPUT_UPPER_CLAMP_OPEN);
+ fsm_queue_post_event (FSM_EVENT (AI, clamps_ready));
+ return FSM_NEXT (CLAMP_CLOSE_ALL_CLAMPS, stop_tree_approach);
+}
+
FSM_TRANS_TIMEOUT (CLAMP_REARRANGE_CD, TIMEOUT_RECENTRAGE, CLAMP_BOTTOM_CLAMP_HIDE_POS2)
{
/*Hidding the clamp inside the robot.*/