From dba92215c528ceb41708d34f7dcf0aa8bd07ff21 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 14 May 2010 05:15:14 +0200 Subject: digital/io/src: add shorten option to move FSM This will be used to collect corn. --- digital/io/src/ai_top_cb.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) (limited to 'digital/io/src/ai_top_cb.c') diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c index e42ac4b1..f8596c1f 100644 --- a/digital/io/src/ai_top_cb.c +++ b/digital/io/src/ai_top_cb.c @@ -56,7 +56,7 @@ fsm_branch_t ai__WAIT_INIT_TO_FINISH__init_match_is_started (void) { asserv_set_speed (BOT_MOVE_FAST); - move_start_noangle (PG_VECT (375, 1503), 0); + move_start_noangle (PG_VECT (375, 1503), 0, 0); return ai_next (WAIT_INIT_TO_FINISH, init_match_is_started); } @@ -69,7 +69,7 @@ ai__WAIT_INIT_TO_FINISH__init_match_is_started (void) fsm_branch_t ai__FIRST_GO_BEGIN_OF_LINE_FAST__move_fsm_succeed (void) { - move_start_noangle (PG_VECT (2625, 253), 0); + move_start_noangle (PG_VECT (2625, 253), 0, 0); loader_down (); return ai_next (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_succeed); } @@ -84,7 +84,7 @@ fsm_branch_t ai__FIRST_GO_BEGIN_OF_LINE_FAST__move_fsm_failed (void) { asserv_set_speed (BOT_MOVE_SLOW); - move_start_noangle (PG_VECT (375, 1503), 0); + move_start_noangle (PG_VECT (375, 1503), 0, 0); return ai_next (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_failed); } @@ -148,7 +148,7 @@ ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_succeed (void) fsm_branch_t ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (void) { - move_start_noangle (PG_VECT (2625, 253), 0); + move_start_noangle (PG_VECT (2625, 253), 0, 0); return ai_next (FIRST_GO_END_OF_LINE_SLOW, move_fsm_failed); } @@ -172,7 +172,7 @@ ai__UNLOAD__move_fsm_succeed (void) fsm_branch_t ai__UNLOAD__move_fsm_failed (void) { - move_start_noangle (PG_VECT (2625, 253), 0); + move_start_noangle (PG_VECT (2625, 253), 0, 0); return ai_next (UNLOAD, move_fsm_failed); } -- cgit v1.2.3