From c42d124dea4a94ecfa7bd0f075356b13e0252b9d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 28 Apr 2013 19:13:30 +0200 Subject: digital/io-hub/src/apbirthday: also accept demo after actuators init --- digital/io-hub/src/apbirthday/top.cc | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'digital/io-hub/src/apbirthday/top.cc') diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc index abeea023..84e7be1a 100644 --- a/digital/io-hub/src/apbirthday/top.cc +++ b/digital/io-hub/src/apbirthday/top.cc @@ -525,6 +525,18 @@ FSM_TRANS (TOP_START, top_demo_follow, TOP_DEMO_FOLLOW) ? Asserv::FORWARD : Asserv::BACKWARD); } +FSM_TRANS (TOP_INIT_ACTUATORS, top_demo_follow, TOP_DEMO_FOLLOW) +{ + robot->asserv.follow (top.candles.dir_sign == 1 + ? Asserv::FORWARD : Asserv::BACKWARD); +} + +FSM_TRANS (TOP_DEMO_FOLLOW, top_demo_follow, TOP_DEMO_FOLLOW) +{ + robot->asserv.follow (top.candles.dir_sign == 1 + ? Asserv::FORWARD : Asserv::BACKWARD); +} + FSM_TRANS (TOP_DEMO_FOLLOW, top_follow_finished, TOP_DEMO_FOLLOW) { // Transition needed for top_update. -- cgit v1.2.3