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-rw-r--r--digital/io/src/init_cb.c18
1 files changed, 17 insertions, 1 deletions
diff --git a/digital/io/src/init_cb.c b/digital/io/src/init_cb.c
index f763aaed..063314a3 100644
--- a/digital/io/src/init_cb.c
+++ b/digital/io/src/init_cb.c
@@ -31,6 +31,7 @@
#include "main.h"
#include "aquajim.h"
#include "switch.h"
+#include "chrono.h"
#include "modules/trace/trace.h"
/*
@@ -216,7 +217,7 @@ init__GO_AWAY_FROM_THE_WALL_AGAIN__bot_move_succeed (void)
/*
* GO_TO_START_POSITION =bot_move_succeed=>
- * => IDLE
+ * => WAIT_SECOND_JACK_OUT
* nothing to do, the bot is at the start position.
*/
fsm_branch_t
@@ -225,4 +226,19 @@ init__GO_TO_START_POSITION__bot_move_succeed (void)
return init_next (GO_TO_START_POSITION, bot_move_succeed);
}
+/*
+ * WAIT_SECOND_JACK_OUT =jack_removed_from_bot=>
+ * => IDLE
+ * tell other FSM the match begins.
+ */
+fsm_branch_t
+init__WAIT_SECOND_JACK_OUT__jack_removed_from_bot (void)
+{
+ /* Set the flag to transmit to other FSM. */
+ init_match_is_started = 1;
+ /* Start the chrono. */
+ chrono_init ();
+ return init_next (WAIT_SECOND_JACK_OUT, jack_removed_from_bot);
+}
+