From 0b7b203b4d6cc0e8efaadee8c1ad051276d0b3c8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 23:55:18 +0200 Subject: digital/io/src: move clamp all the way up --- digital/io/src/ai_loader_cb.c | 24 +++++++++++++++++------- 1 file changed, 17 insertions(+), 7 deletions(-) (limited to 'digital/io/src/ai_loader_cb.c') diff --git a/digital/io/src/ai_loader_cb.c b/digital/io/src/ai_loader_cb.c index fa85c4e7..46e9b60c 100644 --- a/digital/io/src/ai_loader_cb.c +++ b/digital/io/src/ai_loader_cb.c @@ -252,7 +252,7 @@ ai__LOADER_LOAD_CLOSING__clamp_succeed (void) - mimot_get_motor1_position (); if (tickness > BOT_CLAMP_EMPTY_STEP) { - asserv_move_motor0_absolute (BOT_ELEVATOR_UNLOAD_STEP, + asserv_move_motor0_absolute (BOT_ELEVATOR_STROKE_STEP, BOT_ELEVATOR_SPEED); return ai_next_branch (LOADER_LOAD_CLOSING, clamp_succeed, full); } @@ -265,28 +265,38 @@ ai__LOADER_LOAD_CLOSING__clamp_succeed (void) } /* - * LOADER_LOAD_UPING =elevator_succeed=> + * LOADER_LOAD_UPING =elevator_unload_position=> * => LOADER_LOAD_UNLOADING * open clamp */ fsm_branch_t -ai__LOADER_LOAD_UPING__elevator_succeed (void) +ai__LOADER_LOAD_UPING__elevator_unload_position (void) { mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); - return ai_next (LOADER_LOAD_UPING, elevator_succeed); + return ai_next (LOADER_LOAD_UPING, elevator_unload_position); } /* - * LOADER_LOAD_UNLOADING =clamp_succeed=> + * LOADER_LOAD_UNLOADING =elevator_succeed=> + * => LOADER_LOAD_UNLOADING_OPEN + */ +fsm_branch_t +ai__LOADER_LOAD_UNLOADING__elevator_succeed (void) +{ + return ai_next (LOADER_LOAD_UNLOADING, elevator_succeed); +} + +/* + * LOADER_LOAD_UNLOADING_OPEN =clamp_succeed=> * => LOADER_DOWNING * move down */ fsm_branch_t -ai__LOADER_LOAD_UNLOADING__clamp_succeed (void) +ai__LOADER_LOAD_UNLOADING_OPEN__clamp_succeed (void) { asserv_move_motor0_absolute (BOT_ELEVATOR_DOWN_STEP, BOT_ELEVATOR_SPEED); - return ai_next (LOADER_LOAD_UNLOADING, clamp_succeed); + return ai_next (LOADER_LOAD_UNLOADING_OPEN, clamp_succeed); } /* -- cgit v1.2.3