From e97554f96efc436bf94ba0bb2492deca1fb76a97 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 9 May 2013 11:00:29 +0200 Subject: digital/io-hub/src/apbirthday: if a plate is not seen, it may be there anyway --- digital/io-hub/src/apbirthday/top.cc | 11 ++++++++++- 1 file changed, 10 insertions(+), 1 deletion(-) (limited to 'digital/io-hub') diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc index 8551a728..0950bcbe 100644 --- a/digital/io-hub/src/apbirthday/top.cc +++ b/digital/io-hub/src/apbirthday/top.cc @@ -536,10 +536,19 @@ FSM_TRANS (TOP_PLATE_GOTO, move_failure, TOP_DECISION) robot->strat.failure (); } -FSM_TRANS (TOP_PLATE_APPROACH, move_success, TOP_DECISION) +FSM_TRANS (TOP_PLATE_APPROACH, move_success, + leave, TOP_PLATE_LEAVE, + end, TOP_DECISION) { // TODO: no plate. robot->strat.failure (); + if (top.plate.leave) + { + robot->move.start (top.plate.approaching_pos.v, Asserv::REVERT_OK); + return FSM_BRANCH (leave); + } + else + return FSM_BRANCH (end); } FSM_TRANS (TOP_PLATE_APPROACH, move_failure, TOP_DECISION) -- cgit v1.2.3