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-rw-r--r--digital/io/src/getsamples_cb.c11
1 files changed, 8 insertions, 3 deletions
diff --git a/digital/io/src/getsamples_cb.c b/digital/io/src/getsamples_cb.c
index 85dca001..8f7abefb 100644
--- a/digital/io/src/getsamples_cb.c
+++ b/digital/io/src/getsamples_cb.c
@@ -33,6 +33,11 @@
#include "giboulee.h" /* BOT_ */
#include "playground.h" /* PG_* */
+/**
+ * Get samples shared data.
+ */
+extern struct getsamples_data_t getsamples_data_;
+
/*
* FACE_DISTRIBUTOR =bot_move_succeed=>
* => OPEN_INPUT_HOLE
@@ -68,7 +73,7 @@ fsm_branch_t
getsamples__CLOSE_INPUT_HOLE__arm_move_succeed (void)
{
/* Tell the top FSM we have finished */
- fsm_handle_event (&top_fsm, getsamples_data.event);
+ fsm_handle_event (&top_fsm, TOP_EVENT_get_samples_fsm_finished);
return getsamples_next (CLOSE_INPUT_HOLE, arm_move_succeed);
}
@@ -84,7 +89,7 @@ fsm_branch_t
getsamples__TAKE_SAMPLES__arm_pass_noted_position (void)
{
/* More samples? */
- if (getsamples_data.sample_bitfield)
+ if (getsamples_data_.sample_bitfield)
{
/* Compute notifier */
uint16_t arm_current_position = asserv_get_arm_position ();
@@ -115,7 +120,7 @@ fsm_branch_t
getsamples__IDLE__start (void)
{
/* Face the distributor */
- asserv_goto_angle (getsamples_data.distributor_angle);
+ asserv_goto_angle (getsamples_data_.approach_angle);
return getsamples_next (IDLE, start);
}