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-rw-r--r--digital/io/src/getsamples.c25
-rw-r--r--digital/io/src/getsamples.h11
-rw-r--r--digital/io/src/getsamples_cb.c32
3 files changed, 34 insertions, 34 deletions
diff --git a/digital/io/src/getsamples.c b/digital/io/src/getsamples.c
index 03ce8982..17dee9e8 100644
--- a/digital/io/src/getsamples.c
+++ b/digital/io/src/getsamples.c
@@ -22,12 +22,8 @@
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
* }}} */
-#include "common.h"
#include "getsamples.h"
#include "fsm.h"
-#include "trap.h"
-
-#include "io.h"
/**
* The approach angle to face the distributor.
@@ -51,24 +47,3 @@ getsamples_start (int16_t approach_angle, uint8_t sample_bitfield)
fsm_init (&getsamples_fsm);
fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_start);
}
-
-/* Configure the classifier (using the trap and the internal bit field) for the first bit set to 1. */
-void
-getsamples_configure_classifier (void)
-{
- uint8_t trap_num;
- /* Go through all the bits of the sample bit field */
- for (trap_num = 0; trap_num < trap_count; trap_num++)
- {
- /* Is the bit set? */
- if (bit_is_set (sample_bitfield_, trap_num))
- {
- /* Configure the classifier */
- trap_setup_path_to_box (trap_num);
- /* Reset this bit */
- sample_bitfield_ &= ~_BV (trap_num);
- /* Stop here */
- return;
- }
- }
-}
diff --git a/digital/io/src/getsamples.h b/digital/io/src/getsamples.h
index bf127d29..e24056e2 100644
--- a/digital/io/src/getsamples.h
+++ b/digital/io/src/getsamples.h
@@ -25,6 +25,8 @@
*
* }}} */
+#include "common.h"
+
/**
* Start the get samples FSM.
* @param approach_angle the angle of approach to face the distributor
@@ -37,13 +39,4 @@
void
getsamples_start (int16_t approach_angle, uint8_t sample_bitfield);
-/**
- * Configure the classifier (using the trap and the internal bit field) for
- * the first bit set to 1.
- * After the configuring the classifier, the bit will be reset to 0 to use the
- * next one when calling this function again.
- */
-void
-getsamples_configure_classifier (void);
-
#endif /* getsamples_h */
diff --git a/digital/io/src/getsamples_cb.c b/digital/io/src/getsamples_cb.c
index e60bf2f8..22fdc959 100644
--- a/digital/io/src/getsamples_cb.c
+++ b/digital/io/src/getsamples_cb.c
@@ -33,6 +33,8 @@
#include "giboulee.h" /* BOT_ */
#include "playground.h" /* PG_* */
+#include "io.h"
+
/**
* The approach angle to face the distributor.
*/
@@ -43,6 +45,36 @@ extern int16_t approach_angle_;
*/
extern uint8_t sample_bitfield_;
+/**
+ * Configure the classifier (using the trap and the internal bit field) for
+ * the first bit set to 1.
+ * After the configuring the classifier, the bit will be reset to 0 to use the
+ * next one when calling this function again.
+ */
+void
+getsamples_configure_classifier (void);
+
+/* Configure the classifier (using the trap and the internal bit field) for the first bit set to 1. */
+void
+getsamples_configure_classifier (void)
+{
+ uint8_t trap_num;
+ /* Go through all the bits of the sample bit field */
+ for (trap_num = 0; trap_num < trap_count; trap_num++)
+ {
+ /* Is the bit set? */
+ if (bit_is_set (sample_bitfield_, trap_num))
+ {
+ /* Configure the classifier */
+ trap_setup_path_to_box (trap_num);
+ /* Reset this bit */
+ sample_bitfield_ &= ~_BV (trap_num);
+ /* Stop here */
+ return;
+ }
+ }
+}
+
/*
* FACE_DISTRIBUTOR =bot_move_succeed=>
* => OPEN_INPUT_HOLE