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-rw-r--r--digital/io/src/elevator_cb.c12
1 files changed, 7 insertions, 5 deletions
diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c
index c1d7b926..5ef5be28 100644
--- a/digital/io/src/elevator_cb.c
+++ b/digital/io/src/elevator_cb.c
@@ -61,27 +61,29 @@ elevator__IDLE__start (void)
/*
* WAIT_JACK_IN =jack_inserted_into_bot=>
* => INIT
- * make initializations
+ * make initializations (elevator zero and open doors)
*/
fsm_branch_t
elevator__WAIT_JACK_IN__jack_inserted_into_bot (void)
{
+ pwm_set(OPEN_DOOR_PWM, TIME_DOORS_PWM);
asserv_elevator_zero_position();
return elevator_next (WAIT_JACK_IN, jack_inserted_into_bot);
}
/*
- * INIT =init_done=>
+ * INIT =doors_opened=>
* => GO_TO_POS_X
- * match begin, we're going to be ready to get a new puck
+ * make initializations (close doors)
*/
fsm_branch_t
-elevator__INIT__init_done (void)
+elevator__INIT__doors_opened (void)
{
elevator_is_ready = 0;
+ pwm_set(CLOSE_DOOR_PWM, TIME_DOORS_PWM);
asserv_move_elevator_absolute(posx[nb_puck_in_elvt],
ASSERV_ELVT_SPEED_DEFAULT);
- return elevator_next (INIT, init_done);
+ return elevator_next (INIT, doors_opened);
}
/*