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-rw-r--r--digital/io/src/cylinder_cb.c11
1 files changed, 6 insertions, 5 deletions
diff --git a/digital/io/src/cylinder_cb.c b/digital/io/src/cylinder_cb.c
index 6ea2ec76..e29b09e2 100644
--- a/digital/io/src/cylinder_cb.c
+++ b/digital/io/src/cylinder_cb.c
@@ -103,8 +103,9 @@ cylinder__WAIT_A_PUCK__new_puck (void)
fsm_branch_t
cylinder__WAIT_A_PUCK__close_order (void)
{
- asserv_move_arm(-1*60*ASSERV_ARM_STEP_BY_DEGREE,
+ asserv_move_arm(1*60*ASSERV_ARM_STEP_BY_DEGREE,
ASSERV_ARM_SPEED_DEFAULT);
+ /*TODO check new puck */
return cylinder_next (WAIT_A_PUCK, close_order);
}
@@ -157,7 +158,7 @@ cylinder__TURN_PLUS_1_AND_OFO__move_done (void)
/* we verify if we drop a puck to the bridge */
if(puck_on_cylinder)
{
- --cylinder_nb_puck;
+ if(cylinder_nb_puck) --cylinder_nb_puck;
++fb_nb_puck;
}
/* We probe the OF to see if we have a new puck */
@@ -308,7 +309,7 @@ cylinder__TURN_PLUS_3_FLUSH__move_done (void)
cylinder_flush_order = 0;
if(puck_on_cylinder)
{
- --cylinder_nb_puck;
+ if(cylinder_nb_puck) --cylinder_nb_puck;
++fb_nb_puck;
puck_on_cylinder = 0;
}
@@ -325,7 +326,7 @@ cylinder__TURN_PLUS_1_CLOSE__move_done (void)
{
if(puck_on_cylinder)
{
- --cylinder_nb_puck;
+ if(cylinder_nb_puck) --cylinder_nb_puck;
++fb_nb_puck;
puck_on_cylinder = 0;
}
@@ -356,7 +357,7 @@ cylinder__TURN_PLUS_1_AND_OFO_DISTRIB__move_done (void)
{
if(puck_on_cylinder)
{
- --cylinder_nb_puck;
+ if(cylinder_nb_puck) --cylinder_nb_puck;
++fb_nb_puck;
puck_on_cylinder = 0;
}