From 44f55257cae560ee1e949d378504a9a457eb71c0 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 02:59:20 +0200 Subject: digital/asserv, digital/io, host/simu: change gate contact position --- digital/io/src/ai_loader_cb.c | 18 +++--------------- digital/io/src/ai_top_cb.c | 2 +- digital/io/src/bot.h | 2 +- digital/io/src/loader.fsm | 8 +------- 4 files changed, 6 insertions(+), 24 deletions(-) (limited to 'digital/io/src') diff --git a/digital/io/src/ai_loader_cb.c b/digital/io/src/ai_loader_cb.c index 7de8a652..a51d740e 100644 --- a/digital/io/src/ai_loader_cb.c +++ b/digital/io/src/ai_loader_cb.c @@ -63,7 +63,7 @@ ai__LOADER_WAIT_JACK_OUT__jack_removed_from_bot (void) asserv_motor0_zero_position (-BOT_ELEVATOR_ZERO_SPEED); mimot_motor0_clamp (BOT_CLAMP_ZERO_SPEED, 0); mimot_motor1_clamp (BOT_CLAMP_ZERO_SPEED, 0); - asserv_motor1_zero_position (BOT_GATE_SPEED); + asserv_motor1_zero_position (-BOT_GATE_SPEED); return ai_next (LOADER_WAIT_JACK_OUT, jack_removed_from_bot); } @@ -115,13 +115,11 @@ ai__LOADER_INIT_GATE_ZERO__gate_succeed (void) /* * LOADER_INIT_ELEVATOR_UP =elevator_succeed=> - * => LOADER_INIT_GATE_OPEN - * open gate + * => LOADER_INIT_GATE_WAIT */ fsm_branch_t ai__LOADER_INIT_ELEVATOR_UP__elevator_succeed (void) { - asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); return ai_next (LOADER_INIT_ELEVATOR_UP, elevator_succeed); } @@ -139,16 +137,6 @@ ai__LOADER_INIT_ELEVATOR_UP__elevator_failed (void) return ai_next (LOADER_INIT_ELEVATOR_UP, elevator_failed); } -/* - * LOADER_INIT_GATE_OPEN =gate_succeed=> - * => LOADER_INIT_GATE_WAIT - */ -fsm_branch_t -ai__LOADER_INIT_GATE_OPEN__gate_succeed (void) -{ - return ai_next (LOADER_INIT_GATE_OPEN, gate_succeed); -} - /* * LOADER_INIT_GATE_WAIT =state_timeout=> * => LOADER_INIT_GATE_CLOSE @@ -157,7 +145,7 @@ ai__LOADER_INIT_GATE_OPEN__gate_succeed (void) fsm_branch_t ai__LOADER_INIT_GATE_WAIT__state_timeout (void) { - asserv_move_motor1_absolute (0, BOT_GATE_SPEED); + asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); return ai_next (LOADER_INIT_GATE_WAIT, state_timeout); } diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c index c057bebf..6e0a0c8d 100644 --- a/digital/io/src/ai_top_cb.c +++ b/digital/io/src/ai_top_cb.c @@ -189,7 +189,7 @@ ai__UNLOAD_FACE_BIN__bot_move_succeed (void) fsm_branch_t ai__UNLOAD_BACK_BIN__bot_move_succeed (void) { - asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED); + asserv_move_motor1_absolute (0, BOT_GATE_SPEED); return ai_next (UNLOAD_BACK_BIN, bot_move_succeed); } diff --git a/digital/io/src/bot.h b/digital/io/src/bot.h index 9617ecb2..582f3261 100644 --- a/digital/io/src/bot.h +++ b/digital/io/src/bot.h @@ -116,7 +116,7 @@ #define BOT_GATE_SPEED 0x46 /** Gate stroke in steps. */ -#define BOT_GATE_STROKE_STEP 0x2081 +#define BOT_GATE_STROKE_STEP -0x1d6b /** * Definition of the colors. diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm index 1978ef41..dd0a6a9c 100644 --- a/digital/io/src/loader.fsm +++ b/digital/io/src/loader.fsm @@ -19,8 +19,6 @@ States: find gate zero LOADER_INIT_ELEVATOR_UP move the elevator up so that the robot can go to the wall - LOADER_INIT_GATE_OPEN - open gate to unload elements before start LOADER_INIT_GATE_WAIT[timeout=225] wait with gate open LOADER_INIT_GATE_CLOSE @@ -99,14 +97,10 @@ LOADER_INIT_GATE_ZERO: gate_succeed -> LOADER_INIT_ELEVATOR_UP LOADER_INIT_ELEVATOR_UP: - elevator_succeed -> LOADER_INIT_GATE_OPEN - open gate + elevator_succeed -> LOADER_INIT_GATE_WAIT elevator_failed -> LOADER_IDLE initialisation failure -LOADER_INIT_GATE_OPEN: - gate_succeed -> LOADER_INIT_GATE_WAIT - LOADER_INIT_GATE_WAIT: state_timeout -> LOADER_INIT_GATE_CLOSE close gate -- cgit v1.2.3