From 4af6e816f0ca13d7ee85ce5892520e493782e33c Mon Sep 17 00:00:00 2001 From: Jerome Jutteau Date: Tue, 5 Mar 2013 19:48:54 +0100 Subject: digital/io/src: update FSM --- digital/io/src/init.c | 13 ------------- 1 file changed, 13 deletions(-) (limited to 'digital/io/src/init.c') diff --git a/digital/io/src/init.c b/digital/io/src/init.c index 77701c2b..7915e961 100644 --- a/digital/io/src/init.c +++ b/digital/io/src/init.c @@ -82,7 +82,6 @@ FSM_START_WITH (INIT_IDLE) */ FSM_TRANS (INIT_IDLE, start, INIT_WAIT_FIRST_JACK_IN) { - return FSM_NEXT (INIT_IDLE, start); } /* @@ -92,7 +91,6 @@ FSM_TRANS (INIT_WAIT_FIRST_JACK_IN, jack_inserted_into_bot, INIT_WAIT_FIRST_JACK_OUT) { - return FSM_NEXT (INIT_WAIT_FIRST_JACK_IN, jack_inserted_into_bot); } /* @@ -107,7 +105,6 @@ FSM_TRANS (INIT_WAIT_FIRST_JACK_OUT, trace_init (); /* Get the color. */ team_color = switch_get_color (); - return FSM_NEXT (INIT_WAIT_FIRST_JACK_OUT, jack_removed_from_bot); } /* @@ -117,7 +114,6 @@ FSM_TRANS (INIT_WAIT_SECOND_JACK_IN, jack_inserted_into_bot, INIT_WAIT_FOR_HANDS_OUT) { - return FSM_NEXT (INIT_WAIT_SECOND_JACK_IN, jack_inserted_into_bot); } /* @@ -128,7 +124,6 @@ FSM_TRANS_TIMEOUT (INIT_WAIT_FOR_HANDS_OUT, 225, { /* Go to the wall, no backward. */ asserv_go_to_the_wall (0); - return FSM_NEXT_TIMEOUT (INIT_WAIT_FOR_HANDS_OUT); } /* @@ -144,7 +139,6 @@ FSM_TRANS (INIT_GO_TO_THE_WALL, asserv_set_angle_position (PG_A_DEG (90)); /* Move away from the border. */ asserv_move_linearly (- INIT_DIST); - return FSM_NEXT (INIT_GO_TO_THE_WALL, bot_move_succeed); } /* @@ -156,7 +150,6 @@ FSM_TRANS (INIT_GO_AWAY_FROM_THE_WALL, { /* Face the other wall. */ asserv_goto_angle (PG_A_DEG (180)); - return FSM_NEXT (INIT_GO_AWAY_FROM_THE_WALL, bot_move_succeed); } /* @@ -166,7 +159,6 @@ FSM_TRANS (INIT_FACE_OTHER_WALL, bot_move_succeed, INIT_WAIT_AFTER_ROTATION) { - return FSM_NEXT (INIT_FACE_OTHER_WALL, bot_move_succeed); } /* @@ -177,7 +169,6 @@ FSM_TRANS_TIMEOUT (INIT_WAIT_AFTER_ROTATION, 100, { /* Go to the wall, no backward. */ asserv_go_to_the_wall (0); - return FSM_NEXT_TIMEOUT (INIT_WAIT_AFTER_ROTATION); } /* @@ -191,7 +182,6 @@ FSM_TRANS (INIT_GO_TO_THE_WALL_AGAIN, asserv_set_x_position (PG_X (BOT_SIZE_FRONT)); /* Move away from the border. */ asserv_move_linearly (- INIT_DIST); - return FSM_NEXT (INIT_GO_TO_THE_WALL_AGAIN, bot_move_succeed); } /* @@ -203,7 +193,6 @@ FSM_TRANS (INIT_GO_AWAY_FROM_THE_WALL_AGAIN, { /* Move away from the border. */ asserv_goto_xya (BOT_INIT_XYA, 0); - return FSM_NEXT (INIT_GO_AWAY_FROM_THE_WALL_AGAIN, bot_move_succeed); } /* @@ -213,7 +202,6 @@ FSM_TRANS (INIT_GO_TO_START_POSITION, bot_move_succeed, INIT_WAIT_SECOND_JACK_OUT) { - return FSM_NEXT (INIT_GO_TO_START_POSITION, bot_move_succeed); } /* @@ -228,5 +216,4 @@ FSM_TRANS (INIT_WAIT_SECOND_JACK_OUT, init_match_is_started = 1; /* Start the chrono. */ chrono_start (); - return FSM_NEXT (INIT_WAIT_SECOND_JACK_OUT, jack_removed_from_bot); } -- cgit v1.2.3