From 002c8f8819a34cc8d589115cca433de716036d8c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 3 Jun 2011 06:15:17 +0200 Subject: digital/io-hub: little step backward in green zone --- digital/io-hub/src/robospierre/clamp.c | 3 +++ 1 file changed, 3 insertions(+) (limited to 'digital/io-hub/src/robospierre/clamp.c') diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c index 6b48c56a..50afda1e 100644 --- a/digital/io-hub/src/robospierre/clamp.c +++ b/digital/io-hub/src/robospierre/clamp.c @@ -103,6 +103,8 @@ FSM_EVENTS ( clamp_new_element, /* Order to prepare tower. */ clamp_prepare, + /* Sent when an element has just been taken (door closed). */ + clamp_taken, /* Sent when clamp is working. */ clamp_working, /* Sent when clamp return to idle state. */ @@ -614,6 +616,7 @@ FSM_TRANS_TIMEOUT (CLAMP_TAKING_DOOR_CLOSING, BOT_PWM_DOOR_CLOSE_TIME, clamp_locked, CLAMP_LOCKED, done, CLAMP_IDLE) { + fsm_queue_post_event (FSM_EVENT (AI, clamp_taken)); logistic_element_new (ctx.pos_new, ctx.new_element_type); if (logistic_global.moving_from != CLAMP_SLOT_NB) { -- cgit v1.2.3