From 817e598cabbb14f5487f6afe3ad0dd0b22faf0af Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Thu, 21 May 2009 16:21:16 +0200 Subject: * digital/io/src: - fix of distributor add-on --- digital/io/src/cylinder_cb.c | 32 ++++++-------------------------- 1 file changed, 6 insertions(+), 26 deletions(-) (limited to 'digital/io/src/cylinder_cb.c') diff --git a/digital/io/src/cylinder_cb.c b/digital/io/src/cylinder_cb.c index d2c31f6a..6ea2ec76 100644 --- a/digital/io/src/cylinder_cb.c +++ b/digital/io/src/cylinder_cb.c @@ -92,8 +92,6 @@ cylinder__INIT_POS__move_done (void) fsm_branch_t cylinder__WAIT_A_PUCK__new_puck (void) { - cylinder_distributor_mode = 0; - cylinder_distributor_fucked = 0; return cylinder_next (WAIT_A_PUCK, new_puck); } @@ -105,8 +103,6 @@ cylinder__WAIT_A_PUCK__new_puck (void) fsm_branch_t cylinder__WAIT_A_PUCK__close_order (void) { - cylinder_distributor_mode = 0; - cylinder_distributor_fucked = 0; asserv_move_arm(-1*60*ASSERV_ARM_STEP_BY_DEGREE, ASSERV_ARM_SPEED_DEFAULT); return cylinder_next (WAIT_A_PUCK, close_order); @@ -120,22 +116,18 @@ cylinder__WAIT_A_PUCK__close_order (void) fsm_branch_t cylinder__WAIT_A_PUCK__flush_order (void) { - cylinder_distributor_mode = 0; - cylinder_distributor_fucked = 0; return cylinder_next (WAIT_A_PUCK, flush_order); } /* - * WAIT_A_PUCK =approching_distributor=> - * => WAIT_DISTRIB_FUCKED - * We wait a distributor + * WAIT_A_PUCK =distrib_fucked=> + * => WAIT_BRIDGE_READY_DISTRIB + * we verify bridge */ fsm_branch_t -cylinder__WAIT_A_PUCK__approching_distributor (void) +cylinder__WAIT_A_PUCK__distrib_fucked (void) { - cylinder_distributor_mode = 0; - cylinder_distributor_fucked = 0; - return cylinder_next (WAIT_A_PUCK, approching_distributor); + return cylinder_next (WAIT_A_PUCK, distrib_fucked); } /* @@ -205,7 +197,6 @@ cylinder__TURN_PLUS_1_AND_MINUS_OFO__move_done (void) fsm_branch_t cylinder__WAIT_BOT_NOT_FULL__bot_not_full (void) { - cylinder_distributor_mode = 0; cylinder_distributor_fucked = 0; return cylinder_next (WAIT_BOT_NOT_FULL, bot_not_full); } @@ -218,7 +209,6 @@ cylinder__WAIT_BOT_NOT_FULL__bot_not_full (void) fsm_branch_t cylinder__WAIT_BOT_NOT_FULL__flush_order (void) { - cylinder_distributor_mode = 0; cylinder_distributor_fucked = 0; if(of_offset_enabled) { @@ -342,17 +332,6 @@ cylinder__TURN_PLUS_1_CLOSE__move_done (void) return cylinder_next (TURN_PLUS_1_CLOSE, move_done); } -/* - * WAIT_DISTRIB_FUCKED =distrib_fucked=> - * => WAIT_BRIDGE_READY_DISTRIB - * We are on a distributor - */ -fsm_branch_t -cylinder__WAIT_DISTRIB_FUCKED__distrib_fucked (void) -{ - return cylinder_next (WAIT_DISTRIB_FUCKED, distrib_fucked); -} - /* * WAIT_BRIDGE_READY_DISTRIB =bridge_ready=> * => TURN_PLUS_1_AND_OFO_DISTRIB @@ -439,6 +418,7 @@ cylinder__PROBE_OF__of_puck (void) fsm_branch_t cylinder__PROBE_OF__of_no_puck (void) { + cylinder_distributor_empty = 1; asserv_move_arm((1-CYLINDER_OF_OFFSET)*60*ASSERV_ARM_STEP_BY_DEGREE, ASSERV_ARM_SPEED_DEFAULT); of_offset_enabled = 0; -- cgit v1.2.3