From 695edea0c415b0da4413d662bc7553d789b2a70e Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Thu, 24 Apr 2008 00:58:41 +0200 Subject: * digital/io/src - integrate move FSM into main loop. --- digital/io/src/main.c | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/digital/io/src/main.c b/digital/io/src/main.c index 61dc77bb..c0699f61 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -139,6 +139,8 @@ main_loop (void) GETSAMPLES_EVENT_bot_move_succeed); fsm_handle_event (&gutter_fsm, GUTTER_EVENT_bot_move_succeed); + fsm_handle_event (&move_fsm, + MOVE_EVENT_reached); } else if (move_status == failure) { @@ -147,6 +149,8 @@ main_loop (void) GETSAMPLES_EVENT_bot_move_failed); fsm_handle_event (&gutter_fsm, GUTTER_EVENT_bot_move_failed); + fsm_handle_event (&move_fsm, + MOVE_EVENT_blocked); } asserv_status_e arm_status = asserv_last_cmd_ack () ? asserv_arm_cmd_status () : none; -- cgit v1.2.3