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-rw-r--r--digital/io/src/ai_init_cb.c45
1 files changed, 7 insertions, 38 deletions
diff --git a/digital/io/src/ai_init_cb.c b/digital/io/src/ai_init_cb.c
index aa4d58df..5e8ea937 100644
--- a/digital/io/src/ai_init_cb.c
+++ b/digital/io/src/ai_init_cb.c
@@ -103,40 +103,19 @@ ai__INIT_WAIT_FOR_HANDS_OUT__state_timeout (void)
/*
* INIT_GO_TO_THE_WALL =bot_move_succeed=>
- * => INIT_SET_Y_POSITION
+ * => INIT_GO_AWAY_FROM_THE_WALL
* reset the Y position of the bot.
+ * reset the angular position of the bot.
+ * move away from the wall (linear move).
*/
fsm_branch_t
ai__INIT_GO_TO_THE_WALL__bot_move_succeed (void)
{
asserv_set_y_position (PG_Y (PG_LENGTH - BOT_SIZE_FRONT));
- return ai_next (INIT_GO_TO_THE_WALL, bot_move_succeed);
-}
-
-/*
- * INIT_SET_Y_POSITION =asserv_last_cmd_ack=>
- * => INIT_SET_ANGULAR_POSITION
- * reset the angular position of the bot.
- */
-fsm_branch_t
-ai__INIT_SET_Y_POSITION__asserv_last_cmd_ack (void)
-{
- /* We are facing top border. */
asserv_set_angle_position (PG_A_DEG (90));
- return ai_next (INIT_SET_Y_POSITION, asserv_last_cmd_ack);
-}
-
-/*
- * INIT_SET_ANGULAR_POSITION =asserv_last_cmd_ack=>
- * => INIT_GO_AWAY_FROM_THE_WALL
- * move away from the wall (linear move).
- */
-fsm_branch_t
-ai__INIT_SET_ANGULAR_POSITION__asserv_last_cmd_ack (void)
-{
/* Move away from the border. */
asserv_move_linearly (- INIT_DIST);
- return ai_next (INIT_SET_ANGULAR_POSITION, asserv_last_cmd_ack);
+ return ai_next (INIT_GO_TO_THE_WALL, bot_move_succeed);
}
/*
@@ -178,27 +157,17 @@ ai__INIT_WAIT_AFTER_ROTATION__state_timeout (void)
/*
* INIT_GO_TO_THE_WALL_AGAIN =bot_move_succeed=>
- * => INIT_SET_X_POSITION
+ * => INIT_GO_AWAY_FROM_THE_WALL_AGAIN
* reset the X position of the bot.
+ * move away from the wall (linear move).
*/
fsm_branch_t
ai__INIT_GO_TO_THE_WALL_AGAIN__bot_move_succeed (void)
{
asserv_set_x_position (PG_X (BOT_SIZE_FRONT));
- return ai_next (INIT_GO_TO_THE_WALL_AGAIN, bot_move_succeed);
-}
-
-/*
- * INIT_SET_X_POSITION =asserv_last_cmd_ack=>
- * => INIT_GO_AWAY_FROM_THE_WALL_AGAIN
- * move away from the wall (linear move).
- */
-fsm_branch_t
-ai__INIT_SET_X_POSITION__asserv_last_cmd_ack (void)
-{
/* Move away from the border. */
asserv_move_linearly (- INIT_DIST);
- return ai_next (INIT_SET_X_POSITION, asserv_last_cmd_ack);
+ return ai_next (INIT_GO_TO_THE_WALL_AGAIN, bot_move_succeed);
}
/*