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-rw-r--r--digital/io/src/ai_top_cb.c26
1 files changed, 25 insertions, 1 deletions
diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c
index 60f2c148..1482dd36 100644
--- a/digital/io/src/ai_top_cb.c
+++ b/digital/io/src/ai_top_cb.c
@@ -71,12 +71,24 @@ ai__WAIT_INIT_TO_FINISH__init_match_is_started (void)
fsm_branch_t
ai__GO_FAR__move_fsm_succeed (void)
{
- position_t pos = PG_POSITION_DEG (1000, 1000, 0);
+ position_t pos = PG_POSITION_DEG (1000, 1000, 180);
move_start (pos, 0);
return ai_next (GO_FAR, move_fsm_succeed);
}
/*
+ * GO_FAR =move_fsm_failed=>
+ * => GO_NEAR
+ * go to a near point
+ */
+fsm_branch_t
+ai__GO_FAR__move_fsm_failed (void)
+{
+ ai__GO_FAR__move_fsm_succeed ();
+ return ai_next (GO_FAR, move_fsm_failed);
+}
+
+/*
* GO_NEAR =move_fsm_succeed=>
* => GO_FAR
* restart
@@ -89,3 +101,15 @@ ai__GO_NEAR__move_fsm_succeed (void)
return ai_next (GO_NEAR, move_fsm_succeed);
}
+/*
+ * GO_NEAR =move_fsm_failed=>
+ * => GO_FAR
+ * restart
+ */
+fsm_branch_t
+ai__GO_NEAR__move_fsm_failed (void)
+{
+ ai__GO_NEAR__move_fsm_succeed ();
+ return ai_next (GO_NEAR, move_fsm_failed);
+}
+