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authorNicolas Schodet2012-05-19 07:08:25 +0200
committerNicolas Schodet2012-05-19 07:08:25 +0200
commit8cce6cd69a8a0c00a73913d4d968034d7d32d937 (patch)
treef114cd27698cb11ecf9283f7fd20aaefa011f606 /digital/io-hub/src/guybrush/top.c
parent95b8a243664c2d79cb1a5f9576d5ebb52a1764ea (diff)
digital/io-hub/src/guybrush: ghost buster take 3
Diffstat (limited to 'digital/io-hub/src/guybrush/top.c')
-rw-r--r--digital/io-hub/src/guybrush/top.c4
1 files changed, 4 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index 28b6e107..c126469c 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -40,6 +40,7 @@
#include "strat.h"
#include "path.h"
#include "bottom_clamp.h"
+#include "radar_defs.h"
#include "output_defs.h"
@@ -290,6 +291,7 @@ FSM_TRANS_TIMEOUT (TOP_DECISION, 1,
bottle, TOP_BOTTLE_GOING,
unload, TOP_UNLOAD_GOING)
{
+ radar_def_upper_clamp_moving (1);
if (FSM_CAN_HANDLE (AI, clamp_unblock))
{
top_chaos_move ();
@@ -311,6 +313,7 @@ FSM_TRANS_TIMEOUT (TOP_DECISION, 1,
FSM_TRANS (TOP_CLAMP_ERROR_MOVING_DECISION, robot_move_success,
TOP_CLAMP_ERROR_DECISION)
{
+ radar_def_upper_clamp_moving (1);
FSM_HANDLE (AI, clamp_unblock);
return FSM_NEXT (TOP_CLAMP_ERROR_MOVING_DECISION, robot_move_success);
}
@@ -355,6 +358,7 @@ FSM_TRANS (TOP_CLAMP_ERROR_DECISION, upper_set_is_dead, TOP_DECISION)
FSM_TRANS (TOP_TOTEM_GOING, move_success, TOP_TOTEM_CLEAN_STARTING)
{
+ radar_def_upper_clamp_moving (0);
clamp_request (FSM_EVENT (AI, clean_start));
return FSM_NEXT (TOP_TOTEM_GOING, move_success);
}