From cbd7e8f608d74171438dba8271613117b96bd11c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 13 May 2012 20:54:16 +0200 Subject: digital/io-hub/src/guybrush: send clamps_ready right before going in idle --- digital/io-hub/src/guybrush/bottom_clamp.c | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index 251b143d..9936b5bb 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -294,7 +294,6 @@ FSM_TRANS (CLAMP_INIT_READY,init_start_round, CLAMP_GOING_IDLE) FSM_TRANS (CLAMP_GOING_IDLE, lower_clamp_rotation_success, CLAMP_WAIT_BEFORE_IDLE) { /*Going back to the idle position, ready for showtime.*/ - fsm_queue_post_event (FSM_EVENT (AI, clamps_ready)); ctx.cpt_blocked = 0; ctx.clamp_1_down = 0; IO_CLR (OUTPUT_LOWER_CLAMP_2_CLOSE); @@ -307,6 +306,7 @@ FSM_TRANS (CLAMP_GOING_IDLE, lower_clamp_rotation_success, CLAMP_WAIT_BEFORE_IDL FSM_TRANS_TIMEOUT (CLAMP_WAIT_BEFORE_IDLE, TIMEOUT_IDLE, CLAMP_IDLE) { /*Going back to the idle position, ready for showtime.*/ + fsm_queue_post_event (FSM_EVENT (AI, clamps_ready)); return FSM_NEXT_TIMEOUT (CLAMP_WAIT_BEFORE_IDLE); } @@ -370,7 +370,6 @@ FSM_TRANS (CLAMP_TURN_HALF_WAY, lower_clamp_rotation_failure, CLAMP_BLOCKED) FSM_TRANS (CLAMP_DROP_CD,lower_clamp_rotation_success,CLAMP_WAIT_BEFORE_IDLE) { - fsm_queue_post_event (FSM_EVENT (AI, clamps_ready)); return FSM_NEXT (CLAMP_DROP_CD,lower_clamp_rotation_success); } @@ -590,7 +589,6 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS,stop_tree_approach,CLAMP_BOTTOM_CLAMP_BAC FSM_TRANS (CLAMP_BOTTOM_CLAMP_BACK,lower_clamp_rotation_success,CLAMP_WAIT_BEFORE_IDLE) { - fsm_queue_post_event (FSM_EVENT (AI, clamps_ready)); return FSM_NEXT(CLAMP_BOTTOM_CLAMP_BACK,lower_clamp_rotation_success); } @@ -686,7 +684,6 @@ FSM_TRANS_TIMEOUT (CLAMP_TURN_BACKWARD,TIMEOUT_BLOCKED, CLAMP_TURN_FORWARD) FSM_TRANS (CLAMP_TURN_FORWARD,lower_clamp_rotation_success, CLAMP_WAIT_BEFORE_IDLE) { ctx.cpt_blocked = 0; - fsm_queue_post_event (FSM_EVENT (AI, clamps_ready)); return FSM_NEXT (CLAMP_TURN_FORWARD, lower_clamp_rotation_success); } -- cgit v1.2.3