From 90cbf5a9e018ccb1ee20ae826c869e94c659f1fe Mon Sep 17 00:00:00 2001 From: Jerome Jutteau Date: Thu, 9 May 2013 00:56:13 +0200 Subject: apbteam/digital/io-hub/src/apbirthday: waiting pressure for plates --- digital/io-hub/src/apbirthday/plate.cc | 22 +++++++++------------- 1 file changed, 9 insertions(+), 13 deletions(-) (limited to 'digital/io-hub') diff --git a/digital/io-hub/src/apbirthday/plate.cc b/digital/io-hub/src/apbirthday/plate.cc index 094fb50f..dcb459eb 100644 --- a/digital/io-hub/src/apbirthday/plate.cc +++ b/digital/io-hub/src/apbirthday/plate.cc @@ -71,6 +71,7 @@ inline void Plate::clamp_close () } FSM_STATES (PLATE_OFF, + PLATE_WAITING_PRESSURE, PLATE_INIT_PREPARE, PLATE_INIT_TAKING, PLATE_INIT_UPING, @@ -90,19 +91,14 @@ FSM_EVENTS (plate_take, FSM_START_WITH (PLATE_OFF) -FSM_TRANS (PLATE_OFF, init_actuators, - off, PLATE_OFF, - on, PLATE_INIT_PREPARE) -{ - // TODO: disabled until present. - if (0) - return FSM_BRANCH (off); - else - { - Plate::arm_down (); - Plate::clamp_open (); - return FSM_BRANCH (on); - } +FSM_TRANS (PLATE_OFF, init_actuators, PLATE_WAITING_PRESSURE) +{ +} + +FSM_TRANS_TIMEOUT (PLATE_WAITING_PRESSURE, 1250, PLATE_INIT_PREPARE) +{ + Plate::arm_down (); + Plate::clamp_open (); } FSM_TRANS_TIMEOUT (PLATE_INIT_PREPARE, 100, PLATE_INIT_TAKING) -- cgit v1.2.3