From 6ed5d46331c2765ec8c090faa4bc823fef2dd5b1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 14 May 2010 02:44:49 +0200 Subject: digital/io/src: remove loader unblocking from top FSM --- digital/io/src/ai_top_cb.c | 76 ---------------------------------------------- digital/io/src/top.fsm | 22 -------------- 2 files changed, 98 deletions(-) (limited to 'digital/io') diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c index 173df388..d37ad972 100644 --- a/digital/io/src/ai_top_cb.c +++ b/digital/io/src/ai_top_cb.c @@ -133,19 +133,6 @@ ai__FIRST_GO_END_OF_LINE_FAST__move_fsm_failed (void) return ai_next (FIRST_GO_END_OF_LINE_FAST, move_fsm_failed); } -/* - * FIRST_GO_END_OF_LINE_FAST =loader_errored=> - * => FIRST_GO_END_OF_LINE_UNBLOCKING_UP - * same as below - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_FAST__loader_errored (void) -{ - asserv_set_speed (BOT_MOVE_SLOW); - ai__FIRST_GO_END_OF_LINE_SLOW__loader_errored (); - return ai_next (FIRST_GO_END_OF_LINE_FAST, loader_errored); -} - /* * FIRST_GO_END_OF_LINE_SLOW =move_fsm_succeed=> * => UNLOAD_LOADER_UP @@ -170,69 +157,6 @@ ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (void) return ai_next (FIRST_GO_END_OF_LINE_SLOW, move_fsm_failed); } -/* - * FIRST_GO_END_OF_LINE_SLOW =loader_errored=> - * => FIRST_GO_END_OF_LINE_UNBLOCKING_UP - * move backward - * loader up - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_SLOW__loader_errored (void) -{ - asserv_move_linearly (-90); - loader_up (); - return ai_next (FIRST_GO_END_OF_LINE_SLOW, loader_errored); -} - -/* - * FIRST_GO_END_OF_LINE_UNBLOCKING_UP =loader_uped=> - * => FIRST_GO_END_OF_LINE_UNBLOCKING - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_UNBLOCKING_UP__loader_uped (void) -{ - return ai_next (FIRST_GO_END_OF_LINE_UNBLOCKING_UP, loader_uped); -} - -/* - * FIRST_GO_END_OF_LINE_UNBLOCKING =bot_move_succeed=> - * => FIRST_GO_END_OF_LINE_SLOW - * move loader down - * retry - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_UNBLOCKING__bot_move_succeed (void) -{ - move_start_noangle (PG_VECT (2625, 253), 0); - loader_down (); - return ai_next (FIRST_GO_END_OF_LINE_UNBLOCKING, bot_move_succeed); -} - -/* - * FIRST_GO_END_OF_LINE_UNBLOCKING =bot_move_failed=> - * => FIRST_GO_END_OF_LINE_SLOW - * move loader down - * retry - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_UNBLOCKING__bot_move_failed (void) -{ - ai__FIRST_GO_END_OF_LINE_UNBLOCKING__bot_move_succeed (); - return ai_next (FIRST_GO_END_OF_LINE_UNBLOCKING, bot_move_failed); -} - -/* - * FIRST_GO_END_OF_LINE_UNBLOCKING =loader_errored=> - * => FIRST_GO_END_OF_LINE_UNBLOCKING - * unblock again - */ -fsm_branch_t -ai__FIRST_GO_END_OF_LINE_UNBLOCKING__loader_errored (void) -{ - asserv_move_linearly (-90); - return ai_next (FIRST_GO_END_OF_LINE_UNBLOCKING, loader_errored); -} - /* * UNLOAD =move_fsm_succeed=> * => UNLOAD_LOADER_UP diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index 9cb3a044..46434b7f 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -13,10 +13,6 @@ States: first sequence, go to end of line FIRST_GO_END_OF_LINE_SLOW slow down to take elements - FIRST_GO_END_OF_LINE_UNBLOCKING_UP - unblock problem with loader, move loader up - FIRST_GO_END_OF_LINE_UNBLOCKING - unblock problem with loader, go backward UNLOAD go to unloading position UNLOAD_LOADER_UP @@ -81,30 +77,12 @@ FIRST_GO_END_OF_LINE_FAST: move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW set slow speed retry - loader_errored -> FIRST_GO_END_OF_LINE_UNBLOCKING_UP - same as below FIRST_GO_END_OF_LINE_SLOW: move_fsm_succeed -> UNLOAD_LOADER_UP move loader up move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW retry - loader_errored -> FIRST_GO_END_OF_LINE_UNBLOCKING_UP - move backward - loader up - -FIRST_GO_END_OF_LINE_UNBLOCKING_UP: - loader_uped -> FIRST_GO_END_OF_LINE_UNBLOCKING - -FIRST_GO_END_OF_LINE_UNBLOCKING: - bot_move_succeed -> FIRST_GO_END_OF_LINE_SLOW - move loader down - retry - bot_move_failed -> FIRST_GO_END_OF_LINE_SLOW - move loader down - retry - loader_errored -> . - unblock again UNLOAD: move_fsm_succeed -> UNLOAD_LOADER_UP -- cgit v1.2.3