From 5cac07e12e9200e0e8bc2a2fcdd6f2f865fb6cc1 Mon Sep 17 00:00:00 2001 From: Jerome Jutteau Date: Thu, 9 May 2013 01:16:49 +0200 Subject: apbteam/digital/io-hub/src/apbirthday: fix candle fsm --- digital/io-hub/src/apbirthday/candles.cc | 25 +++---------------------- 1 file changed, 3 insertions(+), 22 deletions(-) diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc index 2ea3c36d..6139efc1 100644 --- a/digital/io-hub/src/apbirthday/candles.cc +++ b/digital/io-hub/src/apbirthday/candles.cc @@ -204,11 +204,8 @@ FSM_STATES (AI_CANDLE_OFF, AI_CANDLE_WAITING_PRESSURE, AI_CANDLE_INIT, AI_CANDLE_SLEEPING, - AI_CANDLE_DEPLOYING_SERVO, AI_CANDLE_DEPLOYING_ARM, - AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_SERVO, - AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_1, - AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_2, + AI_CANDLE_DEPLOYING_SERVO, AI_CANDLE_READY, AI_CANDLE_UNDEPLOYING_SERVO, AI_CANDLE_UNDEPLOYING_1, @@ -253,7 +250,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING_ARM, 300, AI_CANDLE_DEPLOYING_SERVO) FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING_SERVO, 300, success, AI_CANDLE_READY, - failure, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_SERVO) + failure, AI_CANDLE_UNDEPLOYING_SERVO) { // TODO: connect contact. if (1 || !robot->hardware.cake_arm_out_contact.get ()) @@ -270,22 +267,6 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_DEPLOYING_SERVO, 300, } } -FSM_TRANS_TIMEOUT (AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_SERVO, 300, - AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_1) -{ - Candles::undeploy_arm_1 (); -} - -FSM_TRANS_TIMEOUT (AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_1, 160, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_2) -{ - Candles::undeploy_arm_2 (); -} - -FSM_TRANS_TIMEOUT (AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_2, 56, AI_CANDLE_SLEEPING) -{ - Candles::undeploy_arm_3 (); -} - FSM_TRANS (AI_CANDLE_READY, ai_candle_blow, AI_CANDLE_READY) { int i; @@ -361,7 +342,7 @@ FSM_TRANS_TIMEOUT (AI_CANDLE_UNDEPLOYING_2, 42, AI_CANDLE_UNDEPLOYING_3) FSM_TRANS_TIMEOUT (AI_CANDLE_UNDEPLOYING_3, 100, success, AI_CANDLE_SLEEPING, - failure, AI_CANDLE_FALLING_BACK_TO_UNDEPLOYED_SERVO) + failure, AI_CANDLE_DEPLOYING_ARM) { // TODO: connect contact. if (1 || !robot->hardware.cake_arm_in_contact.get ()) -- cgit v1.2.3