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authorNicolas Haller2009-05-21 08:19:43 +0200
committerNicolas Haller2009-05-21 08:19:43 +0200
commit18b32888e823fef06f9e9e35895d796611fa3e8c (patch)
tree347f52d93badbeddaaeac6e16c5e689f3f2920b5 /digital/io/src/elevator_cb.c
parent4135f8419b41723b0c2346f8465fb60762962efe (diff)
* digital/io/src:
- change fb_idle to fb_empty
Diffstat (limited to 'digital/io/src/elevator_cb.c')
-rw-r--r--digital/io/src/elevator_cb.c12
1 files changed, 6 insertions, 6 deletions
diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c
index caef50c2..e1799879 100644
--- a/digital/io/src/elevator_cb.c
+++ b/digital/io/src/elevator_cb.c
@@ -94,7 +94,7 @@ elevator__INIT__doors_opened (void)
/* FIXME: why this is here? */
elvt_is_ready = 0;
/* Close the door. */
- pwm_set (CLOSE_DOOR_PWM, TIME_DOORS_PWM);
+ pwm_set (CLOSE_DOOR_PWM, 2*TIME_DOORS_PWM);
return elevator_next (INIT, doors_opened);
}
@@ -145,7 +145,7 @@ elevator__WAIT_A_PUCK__new_puck (void)
/*
* WAIT_A_PUCK =order_received=>
- * => WAIT_FB_IDLE
+ * => WAIT_FB_EMPTY
* elevator filling has been shut, get ready to drop pucks
*/
fsm_branch_t
@@ -156,17 +156,17 @@ elevator__WAIT_A_PUCK__order_received (void)
}
/*
- * WAIT_FB_IDLE =fb_idle=>
+ * WAIT_FB_EMPTY =fb_empty=>
* => GO_TO_POS_Y
* execute order
*/
fsm_branch_t
-elevator__WAIT_FB_IDLE__fb_idle (void)
+elevator__WAIT_FB_EMPTY__fb_empty (void)
{
elvt_new_puck = 0;
asserv_move_elevator_absolute(posy[elvt_order - 1] - MAJ_POSY,
ASSERV_ELVT_SPEED_DEFAULT);
- return elevator_next (WAIT_FB_IDLE, fb_idle);
+ return elevator_next (WAIT_FB_EMPTY, fb_empty);
}
/*
@@ -215,7 +215,6 @@ elevator__WAIT_FOR_RELEASE_ORDER__order_received (void)
fsm_branch_t
elevator__LAND_ELEVATOR__in_position (void)
{
- elvt_order = 0;
pwm_set(OPEN_DOOR_PWM, 0);
return elevator_next (LAND_ELEVATOR, in_position);
}
@@ -243,6 +242,7 @@ elevator__OPEN_DOORS__doors_opened (void)
top_puck_inside_bot -= elvt_nb_puck;
elvt_nb_puck = 0;
pwm_set(0,0);
+ elvt_order = 0;
return elevator_next (OPEN_DOORS, doors_opened);
}