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authorNélio Laranjeiro2008-04-02 23:28:35 +0200
committerNélio Laranjeiro2008-04-02 23:28:35 +0200
commit204b0a6df044825a13c990565bbfa027c9b03009 (patch)
treef3b89bce0407007aca916c5d550a48752b7c093a /digital/io
parentf1c0281f0827699b5990c5dd21908d2384407578 (diff)
Modified the asserv_go_to_gutter function name to
asserv_go_to_distributor.
Diffstat (limited to 'digital/io')
-rw-r--r--digital/io/src/asserv.c4
-rw-r--r--digital/io/src/asserv.h4
-rw-r--r--digital/io/src/getsamples_cb.c10
-rw-r--r--digital/io/src/test/testgetsamples/main.c6
4 files changed, 14 insertions, 10 deletions
diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c
index 3c79c135..6849db43 100644
--- a/digital/io/src/asserv.c
+++ b/digital/io/src/asserv.c
@@ -268,9 +268,9 @@ asserv_go_to_the_wall (void)
asserv_twi_send_command ('f', 0);
}
-/* Move forward to approach a gutter. */
+/* Move forward to approach a ditributor. */
void
-asserv_go_to_gutter (void)
+asserv_go_to_distributor (void)
{
/* Send the go the gutter command to the asserv board */
asserv_twi_send_command ('F', 0);
diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h
index 005ae7a3..2f2e7f51 100644
--- a/digital/io/src/asserv.h
+++ b/digital/io/src/asserv.h
@@ -172,11 +172,11 @@ void
asserv_go_to_the_wall (void);
/**
- * Move forward to approach a gutter.
+ * Move forward to approach a distributor.
* Move class command.
*/
void
-asserv_go_to_gutter (void);
+asserv_go_to_distributor (void);
/**
* Move the arm.
diff --git a/digital/io/src/getsamples_cb.c b/digital/io/src/getsamples_cb.c
index aeb7f586..916027c3 100644
--- a/digital/io/src/getsamples_cb.c
+++ b/digital/io/src/getsamples_cb.c
@@ -36,10 +36,8 @@
fsm_branch_t
getsamples__PREPARE_ARM__arm_moved (void)
{
- // Try to end the position to the distributor.
- asserv_set_x_position (getsamples_data.distributor_x);
- // Go to the color distributor.
- asserv_set_y_position (getsamples_data.distributor_y);
+ // final
+ asserv_go_to_distributor ();
return getsamples_next (PREPARE_ARM, arm_moved);
}
@@ -64,8 +62,8 @@ getsamples__FORWARD_CONTROL__position_reached (void)
fsm_branch_t
getsamples__START__ok (void)
{
- asserv_set_x_position (getsamples_data.distributor_x - 20);
- asserv_set_y_position (getsamples_data.distributor_y - 20);
+ asserv_set_x_position (getsamples_data.distributor_x - 100);
+ asserv_set_y_position (getsamples_data.distributor_y - 100);
return getsamples_next (START, ok);
}
diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c
index 7d106315..c8e11a46 100644
--- a/digital/io/src/test/testgetsamples/main.c
+++ b/digital/io/src/test/testgetsamples/main.c
@@ -143,3 +143,9 @@ trap_close_rear_panel (void)
printf ("Close rear panel\n");
}
+void
+asserv_go_to_distributor (void)
+{
+ printf ("Go to distributor\n");
+}
+