From f3d54d8e62fe76b78bcefd707182408324d25ab5 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 09:15:08 +0200 Subject: digital/io/src: unblocking tuning --- digital/io/src/ai_top_cb.c | 25 ++++++++++++++++++------- 1 file changed, 18 insertions(+), 7 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 aa18df9d..2104c5c7 100644 --- a/digital/io/src/ai_top_cb.c +++ b/digital/io/src/ai_top_cb.c @@ -135,9 +135,8 @@ ai__FIRST_GO_END_OF_LINE_FAST__move_fsm_failed (void) /* * FIRST_GO_END_OF_LINE_FAST =loader_errored=> - * => FIRST_GO_END_OF_LINE_UNBLOCKING - * move backward - * move loader down + * => FIRST_GO_END_OF_LINE_UNBLOCKING_UP + * same as below */ fsm_branch_t ai__FIRST_GO_END_OF_LINE_FAST__loader_errored (void) @@ -173,33 +172,46 @@ ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (void) /* * FIRST_GO_END_OF_LINE_SLOW =loader_errored=> - * => FIRST_GO_END_OF_LINE_UNBLOCKING + * => FIRST_GO_END_OF_LINE_UNBLOCKING_UP * move backward - * move loader down + * loader up */ fsm_branch_t ai__FIRST_GO_END_OF_LINE_SLOW__loader_errored (void) { asserv_move_linearly (-90); - loader_down (); + loader_up (); return ai_next (FIRST_GO_END_OF_LINE_SLOW, loader_errored); } +/* + * FIRST_GO_END_OF_LINE_UNBLOCKING_UP =loader_uped=> + * => FIRST_GO_END_OF_LINE_UNBLOCKING + */ +fsm_branch_t +ai__FIRST_GO_END_OF_LINE_UNBLOCKING_UP__loader_uped (void) +{ + return ai_next (FIRST_GO_END_OF_LINE_UNBLOCKING_UP, loader_uped); +} + /* * FIRST_GO_END_OF_LINE_UNBLOCKING =bot_move_succeed=> * => FIRST_GO_END_OF_LINE_SLOW + * move loader down * retry */ fsm_branch_t ai__FIRST_GO_END_OF_LINE_UNBLOCKING__bot_move_succeed (void) { move_start_noangle (PG_VECT (2625, 253), 0); + loader_down (); return ai_next (FIRST_GO_END_OF_LINE_UNBLOCKING, bot_move_succeed); } /* * FIRST_GO_END_OF_LINE_UNBLOCKING =bot_move_failed=> * => FIRST_GO_END_OF_LINE_SLOW + * move loader down * retry */ fsm_branch_t @@ -218,7 +230,6 @@ fsm_branch_t ai__FIRST_GO_END_OF_LINE_UNBLOCKING__loader_errored (void) { asserv_move_linearly (-90); - loader_down (); return ai_next (FIRST_GO_END_OF_LINE_UNBLOCKING, loader_errored); } -- cgit v1.2.3