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Diffstat (limited to 'digital/io/src/elevator_cb.c')
-rw-r--r--digital/io/src/elevator_cb.c6
1 files changed, 4 insertions, 2 deletions
diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c
index f6e538a4..0c32f922 100644
--- a/digital/io/src/elevator_cb.c
+++ b/digital/io/src/elevator_cb.c
@@ -30,6 +30,7 @@
#include "pwm.h"
#include "chrono.h"
#include "filterbridge.h"
+#include "top.h"
/* Positions when waiting a puck*/
uint16_t posx[4] =
@@ -166,7 +167,7 @@ elevator__WAIT_A_PUCK__time_up (void)
fsm_branch_t
elevator__WAIT_POS_ORDER__order_received (void)
{
- asserv_move_elevator_absolute(posy[elvt_order] + MAJ_POSY,
+ asserv_move_elevator_absolute(posy[elvt_order + 1] + MAJ_POSY,
ASSERV_ELVT_SPEED_DEFAULT);
elvt_order = 0;
return elevator_next (WAIT_POS_ORDER, order_received);
@@ -191,7 +192,7 @@ elevator__GO_TO_POS_Y__in_position (void)
fsm_branch_t
elevator__WAIT_FOR_RELEASE_ORDER__order_received (void)
{
- asserv_move_elevator_absolute(posy[elvt_order] - MIN_POSY,
+ asserv_move_elevator_absolute(posy[elvt_order + 1] - MIN_POSY,
ASSERV_ELVT_SPEED_DEFAULT);
elvt_order = 0;
return elevator_next (WAIT_FOR_RELEASE_ORDER, order_received);
@@ -230,6 +231,7 @@ fsm_branch_t
elevator__OPEN_DOORS__doors_opened (void)
{
nb_puck_elvt = 0;
+ top_puck_inside_bot = 0;
return elevator_next (OPEN_DOORS, doors_opened);
}