/* * THIS IS AN AUTOMATICALLY GENERATED FILE, DO NOT EDIT! * * Skeleton for get_samples callbacks implementation. * * */ #include "gutter_cb.h" /* * START =ok=> * => GO_TO_GUTTER * Go to the gutter. */ gutter_branch_t gutter__START__ok (gutter_t *user) { asserv_go_to_gutter(); return gutter_next (START, ok); } /* * CLOSE_COLLECTOR =collector_closed=> * => END * The samples has been inserted in the gutter. */ gutter_branch_t gutter__CLOSE_COLLECTOR__collector_closed (gutter_t *user) { //Close the collector. trap_close_rear_panel(); return gutter_next (CLOSE_COLLECTOR, collector_closed); } /* * GO_TO_GUTTER =position_failed=> * => GO_TO_GUTTER * The position failed, shall try another path. */ gutter_branch_t gutter__GO_TO_GUTTER__position_failed (gutter_t *user) { return gutter_next (GO_TO_GUTTER, position_failed); } /* * GO_TO_GUTTER =position_reached=> * => OPEN_COLLECTOR * The robo is near the gutter and the door can be opened. */ gutter_branch_t gutter__GO_TO_GUTTER__position_reached (gutter_t *user) { // Open the collector. trap_open_rear_panel(); return gutter_next (GO_TO_GUTTER, position_reached); } /* * OPEN_COLLECTOR =collector_opened=> * => CLOSE_COLLECTOR * Wait some time and clse the door. */ gutter_branch_t gutter__OPEN_COLLECTOR__collector_opened (gutter_t *user) { utils_delay_ms(4.4); return gutter_next (OPEN_COLLECTOR, collector_opened); }