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authorNicolas Haller2009-05-21 06:20:34 +0200
committerNicolas Haller2009-05-21 06:20:34 +0200
commit1f89ecb260b2915db08412c315d697c1eb7dd6d6 (patch)
tree836f1abf36aad70c53779b6f35e72b0e3f6835bb /digital/io/src/filterbridge_cb.c
parent7715de301fe6b1095bbd061893239c77ba089593 (diff)
* digital/io/src:
- add dropping pucks command before we have 4 pucks in elevator - fix top_puck_inside_bot assignation on elevator fsm
Diffstat (limited to 'digital/io/src/filterbridge_cb.c')
-rw-r--r--digital/io/src/filterbridge_cb.c3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/io/src/filterbridge_cb.c b/digital/io/src/filterbridge_cb.c
index 9393a702..f8db2e2c 100644
--- a/digital/io/src/filterbridge_cb.c
+++ b/digital/io/src/filterbridge_cb.c
@@ -49,6 +49,7 @@ filterbridge__IDLE__start (void)
fsm_branch_t
filterbridge__WAIT_JACK_IN__jack_inserted_into_bot (void)
{
+ fb_work_in_progress = 1;
servo_pos_move_to(SERVO_FINGER_ID, SERVO_FINGER_IDLE);
servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_CLOSE);
return filterbridge_next (WAIT_JACK_IN, jack_inserted_into_bot);
@@ -62,6 +63,7 @@ filterbridge__WAIT_JACK_IN__jack_inserted_into_bot (void)
fsm_branch_t
filterbridge__CLOSE_DOOR__state_timeout (void)
{
+ fb_work_in_progress = 0;
return filterbridge_next (CLOSE_DOOR, state_timeout);
}
@@ -91,6 +93,7 @@ filterbridge__WAIT_A_PUCK__puck_on_pos2 (void)
fsm_branch_t
filterbridge__MARCEL_WAIT__state_timeout (void)
{
+ fb_work_in_progress = 1;
servo_pos_move_to(SERVO_DOOR_ID, SERVO_DOOR_OPEN);
return filterbridge_next (MARCEL_WAIT, state_timeout);
}