From b86c773bc8c4bb901a9e492496f781b9d6244cb6 Mon Sep 17 00:00:00 2001 From: Jerome Jutteau Date: Thu, 9 May 2013 00:52:32 +0200 Subject: apbteam/digital/io-hub/src/apbirthday: waiting pressure for candles arm --- digital/io-hub/src/apbirthday/candles.cc | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/digital/io-hub/src/apbirthday/candles.cc b/digital/io-hub/src/apbirthday/candles.cc index 1faf58bc..2ea3c36d 100644 --- a/digital/io-hub/src/apbirthday/candles.cc +++ b/digital/io-hub/src/apbirthday/candles.cc @@ -201,6 +201,7 @@ void Candles::undeploy_arm_3 () // Global candle FSM. FSM_STATES (AI_CANDLE_OFF, + AI_CANDLE_WAITING_PRESSURE, AI_CANDLE_INIT, AI_CANDLE_SLEEPING, AI_CANDLE_DEPLOYING_SERVO, @@ -222,7 +223,10 @@ FSM_EVENTS (ai_candle_deploy, FSM_START_WITH (AI_CANDLE_OFF) -FSM_TRANS (AI_CANDLE_OFF, init_actuators, AI_CANDLE_INIT) +FSM_TRANS (AI_CANDLE_OFF, init_actuators, AI_CANDLE_WAITING_PRESSURE) +{} + +FSM_TRANS_TIMEOUT (AI_CANDLE_WAITING_PRESSURE, 1000, AI_CANDLE_INIT) { Candles::deploy_arm (); } -- cgit v1.2.3