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authorNicolas Schodet2011-05-20 08:27:02 +0200
committerNicolas Schodet2011-05-20 08:27:02 +0200
commit2277c9a7aa41c347ba04fca8e202c77b43618802 (patch)
treea73904b3ed877677411caecadaf83ee5b3ff6319 /digital/io-hub/src/robospierre/main.c
parentc3274377f05073c6d40265ab7849df2a72cfd54e (diff)
digital/{ai,io-hub}: add init FSM
Diffstat (limited to 'digital/io-hub/src/robospierre/main.c')
-rw-r--r--digital/io-hub/src/robospierre/main.c14
1 files changed, 11 insertions, 3 deletions
diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c
index 97d5bd40..f1b4d8de 100644
--- a/digital/io-hub/src/robospierre/main.c
+++ b/digital/io-hub/src/robospierre/main.c
@@ -110,9 +110,15 @@ main_event_to_fsm (void)
/* Update FSM timeouts. */
FSM_HANDLE_TIMEOUT_E (AI);
/* Motor status. */
- asserv_status_e mimot_motor0_status, mimot_motor1_status;
+ asserv_status_e robot_move_status, mimot_motor0_status,
+ mimot_motor1_status;
+ robot_move_status = asserv_move_cmd_status ();
mimot_motor0_status = mimot_motor0_cmd_status ();
mimot_motor1_status = mimot_motor1_cmd_status ();
+ if (robot_move_status == success)
+ FSM_HANDLE_E (AI, robot_move_success);
+ else if (robot_move_status == failure)
+ FSM_HANDLE_E (AI, robot_move_failure);
if (mimot_motor0_status == success
&& mimot_motor1_status == success)
FSM_HANDLE_E (AI, clamp_elevation_rotation_success);
@@ -123,9 +129,11 @@ main_event_to_fsm (void)
/* Clamp specific events. */
if (clamp_handle_event ())
return;
- /* Jack, XXX to be changed! */
+ /* Jack. */
if (!contact_get_jack ())
- FSM_HANDLE_E (AI, start);
+ FSM_HANDLE_E (AI, jack_inserted);
+ else
+ FSM_HANDLE_E (AI, jack_removed);
/* Events from the event queue. */
if (fsm_queue_poll ())
{