From 0c140b4d150c6f4629e0d05c29ffb0333b1ea0b6 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Thu, 21 May 2009 08:18:16 +0200 Subject: * digital/io/src: - called cylinder for flush, - close the elevator after unload. --- digital/io/src/top_cb.c | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) (limited to 'digital/io') diff --git a/digital/io/src/top_cb.c b/digital/io/src/top_cb.c index 1e006617..5590cc9d 100644 --- a/digital/io/src/top_cb.c +++ b/digital/io/src/top_cb.c @@ -190,6 +190,9 @@ top__GET_PUCK_FROM_DISTRIBUTOR__move_fsm_failed (void) else { /* Ensure cylinder is closed. */ + cylinder_close_order = 1; + /* Flush cylinder. */ + cylinder_flush_order = 1; asserv_position_t position; /* Go to unload area. */ top_get_next_position_to_unload_puck (&position); @@ -303,7 +306,7 @@ top__GO_TO_UNLOAD_AREA__move_fsm_failed (void) fsm_branch_t top__FUCK_UNLOAD_AREA__bot_move_succeed (void) { - /* Close elevator. */ + /* Unload elevator. */ elvt_order = 3; return top_next (FUCK_UNLOAD_AREA, bot_move_succeed); } @@ -329,6 +332,8 @@ top__FUCK_UNLOAD_AREA__bot_move_failed (void) fsm_branch_t top__UNLOAD_PUCKS__elevator_order_done (void) { + /* Close elevator. */ + elvt_order = 3; /* Move forward. */ asserv_move_linearly (PG_BORDER_DISTANCE); return top_next (UNLOAD_PUCKS, elevator_order_done); @@ -665,7 +670,6 @@ top__CLEAN_FRONT_OF_DISTRIBUTOR__move_fsm_succeed (void) { /* Open cylinder. */ cylinder_close_order = 0; - /* TODO: alete cylinder to open. */ /* Fuck the distributor. */ asserv_go_to_the_wall (0); return top_next (CLEAN_FRONT_OF_DISTRIBUTOR, move_fsm_succeed); -- cgit v1.2.3