From 44f55257cae560ee1e949d378504a9a457eb71c0 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 02:59:20 +0200 Subject: digital/asserv, digital/io, host/simu: change gate contact position --- digital/io/src/ai_loader_cb.c | 18 +++--------------- 1 file changed, 3 insertions(+), 15 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 7de8a652..a51d740e 100644 --- a/digital/io/src/ai_loader_cb.c +++ b/digital/io/src/ai_loader_cb.c @@ -63,7 +63,7 @@ ai__LOADER_WAIT_JACK_OUT__jack_removed_from_bot (void) asserv_motor0_zero_position (-BOT_ELEVATOR_ZERO_SPEED); mimot_motor0_clamp (BOT_CLAMP_ZERO_SPEED, 0); mimot_motor1_clamp (BOT_CLAMP_ZERO_SPEED, 0); - asserv_motor1_zero_position (BOT_GATE_SPEED); + asserv_motor1_zero_position (-BOT_GATE_SPEED); return ai_next (LOADER_WAIT_JACK_OUT, jack_removed_from_bot); } @@ -115,13 +115,11 @@ ai__LOADER_INIT_GATE_ZERO__gate_succeed (void) /* * LOADER_INIT_ELEVATOR_UP =elevator_succeed=> - * => LOADER_INIT_GATE_OPEN - * open gate + * => LOADER_INIT_GATE_WAIT */ fsm_branch_t ai__LOADER_INIT_ELEVATOR_UP__elevator_succeed (void) { - asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); return ai_next (LOADER_INIT_ELEVATOR_UP, elevator_succeed); } @@ -139,16 +137,6 @@ ai__LOADER_INIT_ELEVATOR_UP__elevator_failed (void) return ai_next (LOADER_INIT_ELEVATOR_UP, elevator_failed); } -/* - * LOADER_INIT_GATE_OPEN =gate_succeed=> - * => LOADER_INIT_GATE_WAIT - */ -fsm_branch_t -ai__LOADER_INIT_GATE_OPEN__gate_succeed (void) -{ - return ai_next (LOADER_INIT_GATE_OPEN, gate_succeed); -} - /* * LOADER_INIT_GATE_WAIT =state_timeout=> * => LOADER_INIT_GATE_CLOSE @@ -157,7 +145,7 @@ ai__LOADER_INIT_GATE_OPEN__gate_succeed (void) fsm_branch_t ai__LOADER_INIT_GATE_WAIT__state_timeout (void) { - asserv_move_motor1_absolute (0, BOT_GATE_SPEED); + asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); return ai_next (LOADER_INIT_GATE_WAIT, state_timeout); } -- cgit v1.2.3