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authorJérémy Dufour2008-04-14 12:04:45 +0200
committerJérémy Dufour2008-04-14 12:04:45 +0200
commit203525d84bafff3b1f9fcfff4b0f51bb45c7fa0e (patch)
tree15669fabc5ec8cd538a7f462769b8a616f4b9d0a /digital/io/src/main.c
parent011fd3e4e4d252d02df156a7679c6156cdc72c6a (diff)
* digital/io/src
- add notifier for the desired arm position ; - integrate it in the get samples FSM.
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c13
1 files changed, 7 insertions, 6 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index d03714c4..f2bd5355 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -125,12 +125,13 @@ main_loop (void)
}
/* TODO: Check if the sensor placed at the noted position has seen
* an arm passed and forward this event to the getsamples FSM */
-// if (arm_in_front_of_reached_position)
-// {
-// /* Reset the sensor back to see a new transit of the arm */
-// fsm_handle_event (&getsamples_fsm,
-// GETSAMPLES_EVENT_arm_pass_noted_position);
-// }
+ if (asserv_arm_position_reached ())
+ {
+ /* Reset the notifier */
+ asserv_arm_set_position_reached (0);
+ fsm_handle_event (&getsamples_fsm,
+ GETSAMPLES_EVENT_arm_pass_noted_position);
+ }
/* Check other sensors */
}
}