From fc4ff69e525bd536eaffe07cda393638c734437d Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sat, 3 May 2008 13:30:04 +0200 Subject: * digital/io/src - try infinitely to go the distributor even if the bot move failed (i.e. asserv is blocked) ; - decrease the position of the gutter in term of X axis. --- digital/io/src/getsamples_cb.c | 13 +++++++++++++ 1 file changed, 13 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 d42f05bd..0990f4ae 100644 --- a/digital/io/src/getsamples_cb.c +++ b/digital/io/src/getsamples_cb.c @@ -363,6 +363,19 @@ getsamples__MOVE_AWAY_FROM_DISTRIBUTOR__arm_pass_noted_position (void) return getsamples_next (MOVE_AWAY_FROM_DISTRIBUTOR, arm_pass_noted_position); } +/* + * APPROACH_DISTRIBUTOR =bot_move_failed=> + * => APPROACH_DISTRIBUTOR + * try to move again + */ +fsm_branch_t +getsamples__APPROACH_DISTRIBUTOR__bot_move_failed (void) +{ + /* Approach the distributor */ + asserv_go_to_distributor (); + return getsamples_next (APPROACH_DISTRIBUTOR, bot_move_failed); +} + /* * APPROACH_DISTRIBUTOR =bot_move_succeed=> * => MOVE_BACKWARD_FROM_DISTRIBUTOR -- cgit v1.2.3