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authorNicolas Schodet2010-05-14 02:44:49 +0200
committerNicolas Schodet2010-05-14 02:44:49 +0200
commit6ed5d46331c2765ec8c090faa4bc823fef2dd5b1 (patch)
treea2130729525119a6a4b46510f92b291c041e1db6
parent7300878edf53acd4a9580125013606997ed652ed (diff)
digital/io/src: remove loader unblocking from top FSM
-rw-r--r--digital/io/src/ai_top_cb.c76
-rw-r--r--digital/io/src/top.fsm22
2 files changed, 0 insertions, 98 deletions
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
@@ -134,19 +134,6 @@ ai__FIRST_GO_END_OF_LINE_FAST__move_fsm_failed (void)
}
/*
- * 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
* move loader up
@@ -171,69 +158,6 @@ ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (void)
}
/*
- * 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
* move 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