From 203525d84bafff3b1f9fcfff4b0f51bb45c7fa0e Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 14 Apr 2008 12:04:45 +0200 Subject: * digital/io/src - add notifier for the desired arm position ; - integrate it in the get samples FSM. --- digital/io/src/getsamples_cb.c | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'digital/io/src/getsamples_cb.c') diff --git a/digital/io/src/getsamples_cb.c b/digital/io/src/getsamples_cb.c index 5e963ce6..85dca001 100644 --- a/digital/io/src/getsamples_cb.c +++ b/digital/io/src/getsamples_cb.c @@ -86,6 +86,12 @@ getsamples__TAKE_SAMPLES__arm_pass_noted_position (void) /* More samples? */ if (getsamples_data.sample_bitfield) { + /* Compute notifier */ + uint16_t arm_current_position = asserv_get_arm_position (); + uint16_t arm_notify_position = + arm_current_position + BOT_ARM_NOTED_POSITION - + (arm_current_position % BOT_ARM_THIRD_ROUND); + asserv_arm_set_position_reached (arm_notify_position); /* Prepare classification */ getsamples_configure_classifier (); /* Continue to take sample */ -- cgit v1.2.3