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authorNicolas Schodet2012-05-13 20:54:16 +0200
committerNicolas Schodet2012-05-13 20:54:16 +0200
commitcbd7e8f608d74171438dba8271613117b96bd11c (patch)
tree38de85a2927fda8478e4a5e17fe977c8e90d088b /digital/io-hub/src/guybrush/bottom_clamp.c
parent9433f950fd44eefa825b77cedf2af9d3299c535a (diff)
digital/io-hub/src/guybrush: send clamps_ready right before going in idle
Diffstat (limited to 'digital/io-hub/src/guybrush/bottom_clamp.c')
-rw-r--r--digital/io-hub/src/guybrush/bottom_clamp.c5
1 files changed, 1 insertions, 4 deletions
diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c
index 251b143d..9936b5bb 100644
--- a/digital/io-hub/src/guybrush/bottom_clamp.c
+++ b/digital/io-hub/src/guybrush/bottom_clamp.c
@@ -294,7 +294,6 @@ FSM_TRANS (CLAMP_INIT_READY,init_start_round, CLAMP_GOING_IDLE)
FSM_TRANS (CLAMP_GOING_IDLE, lower_clamp_rotation_success, CLAMP_WAIT_BEFORE_IDLE)
{
/*Going back to the idle position, ready for showtime.*/
- fsm_queue_post_event (FSM_EVENT (AI, clamps_ready));
ctx.cpt_blocked = 0;
ctx.clamp_1_down = 0;
IO_CLR (OUTPUT_LOWER_CLAMP_2_CLOSE);
@@ -307,6 +306,7 @@ FSM_TRANS (CLAMP_GOING_IDLE, lower_clamp_rotation_success, CLAMP_WAIT_BEFORE_IDL
FSM_TRANS_TIMEOUT (CLAMP_WAIT_BEFORE_IDLE, TIMEOUT_IDLE, CLAMP_IDLE)
{
/*Going back to the idle position, ready for showtime.*/
+ fsm_queue_post_event (FSM_EVENT (AI, clamps_ready));
return FSM_NEXT_TIMEOUT (CLAMP_WAIT_BEFORE_IDLE);
}
@@ -370,7 +370,6 @@ FSM_TRANS (CLAMP_TURN_HALF_WAY, lower_clamp_rotation_failure, CLAMP_BLOCKED)
FSM_TRANS (CLAMP_DROP_CD,lower_clamp_rotation_success,CLAMP_WAIT_BEFORE_IDLE)
{
- fsm_queue_post_event (FSM_EVENT (AI, clamps_ready));
return FSM_NEXT (CLAMP_DROP_CD,lower_clamp_rotation_success);
}
@@ -590,7 +589,6 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS,stop_tree_approach,CLAMP_BOTTOM_CLAMP_BAC
FSM_TRANS (CLAMP_BOTTOM_CLAMP_BACK,lower_clamp_rotation_success,CLAMP_WAIT_BEFORE_IDLE)
{
- fsm_queue_post_event (FSM_EVENT (AI, clamps_ready));
return FSM_NEXT(CLAMP_BOTTOM_CLAMP_BACK,lower_clamp_rotation_success);
}
@@ -686,7 +684,6 @@ FSM_TRANS_TIMEOUT (CLAMP_TURN_BACKWARD,TIMEOUT_BLOCKED, CLAMP_TURN_FORWARD)
FSM_TRANS (CLAMP_TURN_FORWARD,lower_clamp_rotation_success, CLAMP_WAIT_BEFORE_IDLE)
{
ctx.cpt_blocked = 0;
- fsm_queue_post_event (FSM_EVENT (AI, clamps_ready));
return FSM_NEXT (CLAMP_TURN_FORWARD, lower_clamp_rotation_success);
}