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authorNicolas Schodet2011-06-01 20:52:04 +0200
committerNicolas Schodet2011-06-01 21:48:47 +0200
commit44e19c5b04ae34c912c9c0302c1c43e770e0eef1 (patch)
tree3851cce0dc14b9cd038181e5da14eb300da65e87
parentdadddea9392f78a360969b72a4dc045b4d87dfec (diff)
digital/io-hub: signal drop to element module
-rw-r--r--digital/io-hub/src/robospierre/top.c5
1 files changed, 3 insertions, 2 deletions
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
index 3a5ef25e..e52c2106 100644
--- a/digital/io-hub/src/robospierre/top.c
+++ b/digital/io-hub/src/robospierre/top.c
@@ -108,9 +108,9 @@ top_go_drop (void)
{
position_t robot_pos;
asserv_get_position (&robot_pos);
- uint8_t drop_pos_id = 43;
+ ctx.target_element_id = 43;
position_t drop_pos;
- drop_pos.v = element_get_pos (drop_pos_id);
+ drop_pos.v = element_get_pos (ctx.target_element_id);
uint8_t backward = logistic_global.collect_direction == DIRECTION_FORWARD
? 0 : ASSERV_BACKWARD;
/* Go above or below the drop point. */
@@ -205,6 +205,7 @@ FSM_TRANS (TOP_WAITING_READY, clamp_done, TOP_DROP_DROPPING)
FSM_TRANS (TOP_DROP_DROPPING, clamp_drop_waiting, TOP_DROP_CLEARING)
{
+ element_down (ctx.target_element_id, ELEMENT_TOWER);
asserv_move_linearly (logistic_global.collect_direction
== DIRECTION_FORWARD ? 200 : -200);
return FSM_NEXT (TOP_DROP_DROPPING, clamp_drop_waiting);