From 15d6ff1d70259c2f8be5e3c0fefafd39c95897a8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 30 May 2010 11:06:18 +0200 Subject: digital/io/src: handle black corn in COLLECT state --- digital/io/src/ai_top_cb.c | 14 ++++++++++++++ digital/io/src/top.fsm | 3 +++ 2 files changed, 17 insertions(+) (limited to 'digital') diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c index ec87b6cb..ed1ae038 100644 --- a/digital/io/src/ai_top_cb.c +++ b/digital/io/src/ai_top_cb.c @@ -330,6 +330,20 @@ ai__COLLECT__move_fsm_failed (void) return ai_next_branch (COLLECT, move_fsm_failed, unload); } +/* + * COLLECT =loader_black=> + * => COLLECT_BLACK + * move backward + * mark as black + */ +fsm_branch_t +ai__COLLECT__loader_black (void) +{ + asserv_move_linearly (-90); + food_black (top_food); + return ai_next (COLLECT, loader_black); +} + /* * COLLECT_SLOW_MOTION =loader_downed=> * unload => UNLOAD diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index c268bd66..277f0a5a 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -137,6 +137,9 @@ COLLECT: move_fsm_failed: unload -> UNLOAD move_fsm_failed: collect -> COLLECT cancel this element + loader_black -> COLLECT_BLACK + move backward + mark as black COLLECT_SLOW_MOTION: loader_downed: unload -> UNLOAD -- cgit v1.2.3