From 345657ed402bb98c36487bd270169a6712a6e9db Mon Sep 17 00:00:00 2001 From: Maxime Hadjinlian Date: Wed, 8 May 2013 19:57:30 +0200 Subject: digital/io-hub/src/apbirthday: remove router FSM --- digital/io-hub/src/apbirthday/cannon.cc | 52 --------------------------------- digital/io-hub/src/apbirthday/cannon.hh | 1 - 2 files changed, 53 deletions(-) (limited to 'digital/io-hub') diff --git a/digital/io-hub/src/apbirthday/cannon.cc b/digital/io-hub/src/apbirthday/cannon.cc index 3b733d19..33e17590 100644 --- a/digital/io-hub/src/apbirthday/cannon.cc +++ b/digital/io-hub/src/apbirthday/cannon.cc @@ -48,11 +48,6 @@ inline void Cannon::set_servo_pos (int pos) robot->hardware.servos.set_position (Servo::SERVO_CHERRY, pos); } -inline void Cannon::set_router_state (int state) -{ - // Set router to OPEN or CLOSE -} - // Trap FSM FSM_STATES (CANNON_TRAP_OFF, CANNON_TRAP_BLOCK, @@ -94,53 +89,6 @@ FSM_TRANS (CANNON_TRAP_MOVE_2, cannon_fire_ok, CANNON_TRAP_BLOCK) Cannon::set_servo_pos (Cannon::BLOCK); } - -// Router FSM - -FSM_STATES (CANNON_ROUTER_OFF, - CANNON_ROUTER_SLEEPING, - CANNON_ROUTER_TRACKING, - CANNON_ROUTER_PUSHING) - -FSM_START_WITH (CANNON_ROUTER_OFF) - -FSM_TRANS (CANNON_ROUTER_OFF, init_actuators, CANNON_ROUTER_SLEEPING) -{ - robot->cannon.set_router_state (Cannon::OPEN); -} - -FSM_TRANS (CANNON_ROUTER_SLEEPING, cannon_fire, CANNON_ROUTER_TRACKING) -{ - // We do nothing here -} - -FSM_TRANS (CANNON_ROUTER_TRACKING, cannon_fire_ok, CANNON_ROUTER_SLEEPING) -{ - // We do nothing here. -} - -FSM_TRANS_TIMEOUT (CANNON_ROUTER_TRACKING, 250, - nothing_to_push, CANNON_ROUTER_TRACKING, - destroy, CANNON_ROUTER_PUSHING) -{ - // Check if we have something to push or not - // return FSM_BRANCH(nothing_to_push); - return FSM_BRANCH(destroy); - // If we have something to push, push next event -} - -FSM_TRANS_TIMEOUT (CANNON_ROUTER_PUSHING, 250, CANNON_ROUTER_TRACKING) -{ - // Open the router after the timeout - robot->cannon.set_router_state (Cannon::OPEN); -} - -FSM_TRANS (CANNON_ROUTER_PUSHING, cannon_fire_ok, CANNON_ROUTER_SLEEPING) -{ - // Open router - robot->cannon.set_router_state (Cannon::OPEN); -} - // Cannon main FSM FSM_STATES (CANNON_OFF, diff --git a/digital/io-hub/src/apbirthday/cannon.hh b/digital/io-hub/src/apbirthday/cannon.hh index a8c0ce26..d4907eae 100644 --- a/digital/io-hub/src/apbirthday/cannon.hh +++ b/digital/io-hub/src/apbirthday/cannon.hh @@ -44,7 +44,6 @@ class Cannon static void blower_off (); static void blower_on (); static void set_servo_pos (int pos); - void set_router_state (int state); }; #endif // cannon_hh -- cgit v1.2.3