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authorNicolas Haller2009-05-21 16:21:16 +0200
committerNicolas Haller2009-05-21 16:21:16 +0200
commit817e598cabbb14f5487f6afe3ad0dd0b22faf0af (patch)
treea59ea198f4ab602ff0136e0b661a2cd4721fe3a4 /digital/io/src/cylinder_cb.c
parenta7fca46683362958b1dc40990ef681770e63df20 (diff)
* digital/io/src:
- fix of distributor add-on
Diffstat (limited to 'digital/io/src/cylinder_cb.c')
-rw-r--r--digital/io/src/cylinder_cb.c32
1 files changed, 6 insertions, 26 deletions
diff --git a/digital/io/src/cylinder_cb.c b/digital/io/src/cylinder_cb.c
index d2c31f6a..6ea2ec76 100644
--- a/digital/io/src/cylinder_cb.c
+++ b/digital/io/src/cylinder_cb.c
@@ -92,8 +92,6 @@ cylinder__INIT_POS__move_done (void)
fsm_branch_t
cylinder__WAIT_A_PUCK__new_puck (void)
{
- cylinder_distributor_mode = 0;
- cylinder_distributor_fucked = 0;
return cylinder_next (WAIT_A_PUCK, new_puck);
}
@@ -105,8 +103,6 @@ cylinder__WAIT_A_PUCK__new_puck (void)
fsm_branch_t
cylinder__WAIT_A_PUCK__close_order (void)
{
- cylinder_distributor_mode = 0;
- cylinder_distributor_fucked = 0;
asserv_move_arm(-1*60*ASSERV_ARM_STEP_BY_DEGREE,
ASSERV_ARM_SPEED_DEFAULT);
return cylinder_next (WAIT_A_PUCK, close_order);
@@ -120,22 +116,18 @@ cylinder__WAIT_A_PUCK__close_order (void)
fsm_branch_t
cylinder__WAIT_A_PUCK__flush_order (void)
{
- cylinder_distributor_mode = 0;
- cylinder_distributor_fucked = 0;
return cylinder_next (WAIT_A_PUCK, flush_order);
}
/*
- * WAIT_A_PUCK =approching_distributor=>
- * => WAIT_DISTRIB_FUCKED
- * We wait a distributor
+ * WAIT_A_PUCK =distrib_fucked=>
+ * => WAIT_BRIDGE_READY_DISTRIB
+ * we verify bridge
*/
fsm_branch_t
-cylinder__WAIT_A_PUCK__approching_distributor (void)
+cylinder__WAIT_A_PUCK__distrib_fucked (void)
{
- cylinder_distributor_mode = 0;
- cylinder_distributor_fucked = 0;
- return cylinder_next (WAIT_A_PUCK, approching_distributor);
+ return cylinder_next (WAIT_A_PUCK, distrib_fucked);
}
/*
@@ -205,7 +197,6 @@ cylinder__TURN_PLUS_1_AND_MINUS_OFO__move_done (void)
fsm_branch_t
cylinder__WAIT_BOT_NOT_FULL__bot_not_full (void)
{
- cylinder_distributor_mode = 0;
cylinder_distributor_fucked = 0;
return cylinder_next (WAIT_BOT_NOT_FULL, bot_not_full);
}
@@ -218,7 +209,6 @@ cylinder__WAIT_BOT_NOT_FULL__bot_not_full (void)
fsm_branch_t
cylinder__WAIT_BOT_NOT_FULL__flush_order (void)
{
- cylinder_distributor_mode = 0;
cylinder_distributor_fucked = 0;
if(of_offset_enabled)
{
@@ -343,17 +333,6 @@ cylinder__TURN_PLUS_1_CLOSE__move_done (void)
}
/*
- * WAIT_DISTRIB_FUCKED =distrib_fucked=>
- * => WAIT_BRIDGE_READY_DISTRIB
- * We are on a distributor
- */
-fsm_branch_t
-cylinder__WAIT_DISTRIB_FUCKED__distrib_fucked (void)
-{
- return cylinder_next (WAIT_DISTRIB_FUCKED, distrib_fucked);
-}
-
-/*
* WAIT_BRIDGE_READY_DISTRIB =bridge_ready=>
* => TURN_PLUS_1_AND_OFO_DISTRIB
* we turn to check the of
@@ -439,6 +418,7 @@ cylinder__PROBE_OF__of_puck (void)
fsm_branch_t
cylinder__PROBE_OF__of_no_puck (void)
{
+ cylinder_distributor_empty = 1;
asserv_move_arm((1-CYLINDER_OF_OFFSET)*60*ASSERV_ARM_STEP_BY_DEGREE,
ASSERV_ARM_SPEED_DEFAULT);
of_offset_enabled = 0;