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authorNicolas Schodet2012-05-19 06:41:40 +0200
committerNicolas Schodet2012-05-19 06:41:40 +0200
commit95b8a243664c2d79cb1a5f9576d5ebb52a1764ea (patch)
treefc7dde463645bddaee34796bb9f97a51312daa95
parent8cdb95cae92096856b3ce83ff039db0a4e33a927 (diff)
digital/io-hub/src/guybrush: prepare strategy in advance
-rw-r--r--digital/io-hub/src/guybrush/top.c3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index 6655afd9..28b6e107 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -437,6 +437,7 @@ FSM_TRANS (TOP_TOTEM_EMPTYING, clamps_ready, TOP_TOTEM_GOING_BACK)
{
strat_success ();
move_start_noangle (top.decision_pos, ASSERV_BACKWARD, 0);
+ strat_prepare ();
return FSM_NEXT (TOP_TOTEM_EMPTYING, clamps_ready);
}
@@ -595,6 +596,7 @@ FSM_TRANS (TOP_BOTTLE_PUSHING, robot_move_success, TOP_BOTTLE_GOING_BACK)
asserv_stop_motor ();
strat_success ();
move_start_noangle (top.decision_pos, 0, 0);
+ strat_prepare ();
return FSM_NEXT (TOP_BOTTLE_PUSHING, robot_move_success);
}
@@ -604,6 +606,7 @@ FSM_TRANS (TOP_BOTTLE_PUSHING, robot_move_failure, TOP_BOTTLE_GOING_BACK)
asserv_stop_motor ();
strat_success ();
move_start_noangle (top.decision_pos, 0, 0);
+ strat_prepare ();
return FSM_NEXT (TOP_BOTTLE_PUSHING, robot_move_failure);
}