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authorJerome Jutteau2013-05-09 00:52:32 +0200
committerNicolas Schodet2013-05-09 07:47:51 +0200
commitb86c773bc8c4bb901a9e492496f781b9d6244cb6 (patch)
tree6dcaa59f0731696626fab955ab26a03695e47efb /digital/io-hub/src
parentad6d5779aa6dd3a0cedadc4bee0934763eab5ceb (diff)
apbteam/digital/io-hub/src/apbirthday: waiting pressure for candles arm
Diffstat (limited to 'digital/io-hub/src')
-rw-r--r--digital/io-hub/src/apbirthday/candles.cc6
1 files changed, 5 insertions, 1 deletions
diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc
index 1faf58bc..2ea3c36d 100644
--- a/digital/io-hub/src/apbirthday/candles.cc
+++ b/digital/io-hub/src/apbirthday/candles.cc
@@ -201,6 +201,7 @@ void Candles::undeploy_arm_3 ()
// Global candle FSM.
FSM_STATES (AI_CANDLE_OFF,
+ AI_CANDLE_WAITING_PRESSURE,
AI_CANDLE_INIT,
AI_CANDLE_SLEEPING,
AI_CANDLE_DEPLOYING_SERVO,
@@ -222,7 +223,10 @@ FSM_EVENTS (ai_candle_deploy,
FSM_START_WITH (AI_CANDLE_OFF)
-FSM_TRANS (AI_CANDLE_OFF, init_actuators, AI_CANDLE_INIT)
+FSM_TRANS (AI_CANDLE_OFF, init_actuators, AI_CANDLE_WAITING_PRESSURE)
+{}
+
+FSM_TRANS_TIMEOUT (AI_CANDLE_WAITING_PRESSURE, 1000, AI_CANDLE_INIT)
{
Candles::deploy_arm ();
}