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Diffstat (limited to 'digital/io/src/loader.c')
-rw-r--r--digital/io/src/loader.c44
1 files changed, 22 insertions, 22 deletions
diff --git a/digital/io/src/loader.c b/digital/io/src/loader.c
index 8dd557da..e8f8c139 100644
--- a/digital/io/src/loader.c
+++ b/digital/io/src/loader.c
@@ -30,7 +30,7 @@
#include "asserv.h"
#include "mimot.h"
#include "bot.h"
-#include "main.h"
+#include "fsm_queue.h"
#include "food.h"
uint8_t loader_elements;
@@ -279,7 +279,7 @@ FSM_TRANS (LOADER_UPING,
elevator_succeed,
LOADER_UP)
{
- main_post_event (FSM_EVENT (AI,loader_uped));
+ fsm_queue_post_event (FSM_EVENT (AI,loader_uped));
return FSM_NEXT (LOADER_UPING, elevator_succeed);
}
@@ -290,7 +290,7 @@ FSM_TRANS (LOADER_UPING,
elevator_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_UPING, elevator_failed);
}
@@ -314,7 +314,7 @@ FSM_TRANS (LOADER_DOWNING,
LOADER_DOWN)
{
asserv_motor0_free ();
- main_post_event (FSM_EVENT (AI, loader_downed));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_downed));
return FSM_NEXT (LOADER_DOWNING, elevator_succeed);
}
@@ -325,7 +325,7 @@ FSM_TRANS (LOADER_DOWNING,
elevator_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_DOWNING, elevator_failed);
}
@@ -338,7 +338,7 @@ FSM_TRANS (LOADER_DOWNING,
LOADER_ERROR)
{
asserv_motor0_free ();
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_DOWNING, loader_element);
}
@@ -396,7 +396,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING,
elevator_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_ERROR_DOWNING, elevator_failed);
}
@@ -406,7 +406,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING,
FSM_TRANS_TIMEOUT (LOADER_ERROR_DOWNING, 225,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT_TIMEOUT (LOADER_ERROR_DOWNING);
}
@@ -417,7 +417,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING_OPEN,
clamp_succeed,
LOADER_DOWN)
{
- main_post_event (FSM_EVENT (AI, loader_downed));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_downed));
return FSM_NEXT (LOADER_ERROR_DOWNING_OPEN, clamp_succeed);
}
@@ -428,7 +428,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING_OPEN,
clamp_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_ERROR_DOWNING_OPEN, clamp_failed);
}
@@ -438,7 +438,7 @@ FSM_TRANS (LOADER_ERROR_DOWNING_OPEN,
FSM_TRANS_TIMEOUT (LOADER_ERROR_DOWNING_OPEN, 225,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT_TIMEOUT (LOADER_ERROR_DOWNING_OPEN);
}
@@ -461,7 +461,7 @@ FSM_TRANS (LOADER_ERROR_UPING,
elevator_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_ERROR_UPING, elevator_failed);
}
@@ -471,7 +471,7 @@ FSM_TRANS (LOADER_ERROR_UPING,
FSM_TRANS_TIMEOUT (LOADER_ERROR_UPING, 225,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT_TIMEOUT (LOADER_ERROR_UPING);
}
@@ -482,7 +482,7 @@ FSM_TRANS (LOADER_ERROR_UPING_OPEN,
clamp_succeed,
LOADER_UP)
{
- main_post_event (FSM_EVENT (AI, loader_uped));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_uped));
return FSM_NEXT (LOADER_ERROR_UPING_OPEN, clamp_succeed);
}
@@ -493,7 +493,7 @@ FSM_TRANS (LOADER_ERROR_UPING_OPEN,
clamp_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_ERROR_UPING_OPEN, clamp_failed);
}
@@ -503,7 +503,7 @@ FSM_TRANS (LOADER_ERROR_UPING_OPEN,
FSM_TRANS_TIMEOUT (LOADER_ERROR_UPING_OPEN, 225,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT_TIMEOUT (LOADER_ERROR_UPING_OPEN);
}
@@ -561,10 +561,10 @@ FSM_TRANS (LOADER_LOAD_UPING,
{
if (loader_elements)
loader_elements--;
- main_post_event (FSM_EVENT (AI, loader_black));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_black));
}
else
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED);
mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED);
return FSM_NEXT (LOADER_LOAD_UPING, elevator_failed);
@@ -585,7 +585,7 @@ FSM_TRANS (LOADER_LOAD_UNLOADING,
elevator_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED);
mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED);
return FSM_NEXT (LOADER_LOAD_UNLOADING, elevator_failed);
@@ -618,7 +618,7 @@ FSM_TRANS (LOADER_LOAD_UNLOADING_OPEN,
clamp_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_LOAD_UNLOADING_OPEN, clamp_failed);
}
@@ -636,7 +636,7 @@ FSM_TRANS (LOADER_LOAD_EMPTY_OPEN, clamp_succeed,
}
else
{
- main_post_event (FSM_EVENT (AI, loader_downed));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_downed));
return FSM_NEXT (LOADER_LOAD_EMPTY_OPEN, clamp_succeed, down);
}
}
@@ -648,6 +648,6 @@ FSM_TRANS (LOADER_LOAD_EMPTY_OPEN,
clamp_failed,
LOADER_ERROR)
{
- main_post_event (FSM_EVENT (AI, loader_errored));
+ fsm_queue_post_event (FSM_EVENT (AI, loader_errored));
return FSM_NEXT (LOADER_LOAD_EMPTY_OPEN, clamp_failed);
}