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authorNicolas Schodet2012-05-18 08:09:38 +0200
committerNicolas Schodet2012-05-18 08:30:19 +0200
commitbb1fe5ee8a4aaf4583380789fd92382f08440e8c (patch)
tree0f83e58b39a6b99f7f8da03469e2dad77b61dba0 /digital/io-hub/src/guybrush/top.c
parentfe9a85d03e4a08c4ac724459737f688750899fd8 (diff)
digital/io-hub/src/guybrush: do not wait when unloading
Diffstat (limited to 'digital/io-hub/src/guybrush/top.c')
-rw-r--r--digital/io-hub/src/guybrush/top.c13
1 files changed, 3 insertions, 10 deletions
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index eea74cde..19891fa9 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -106,9 +106,7 @@ FSM_STATES (
TOP_BOTTLE_GOING_BACK,
/* Going to an unload position. */
- TOP_UNLOAD_GOING,
- /* Unloading, waiting for elements to fall. */
- TOP_UNLOADING)
+ TOP_UNLOAD_GOING)
FSM_START_WITH (TOP_START)
@@ -593,18 +591,13 @@ FSM_TRANS (TOP_BOTTLE_APPROACHING, robot_move_failure,
/** UNLOAD */
-FSM_TRANS (TOP_UNLOAD_GOING, move_success, TOP_UNLOADING)
+FSM_TRANS (TOP_UNLOAD_GOING, move_success, TOP_DECISION)
{
IO_SET (OUTPUT_DOOR_OPEN);
IO_CLR (OUTPUT_DOOR_CLOSE);
- return FSM_NEXT (TOP_UNLOAD_GOING, move_success);
-}
-
-FSM_TRANS_TIMEOUT (TOP_UNLOADING, 250, TOP_DECISION)
-{
strat_success ();
top.close_door = 1;
- return FSM_NEXT_TIMEOUT (TOP_UNLOADING);
+ return FSM_NEXT (TOP_UNLOAD_GOING, move_success);
}
/** UNLOAD failures. */