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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
parent95b8a243664c2d79cb1a5f9576d5ebb52a1764ea (diff)
digital/io-hub/src/guybrush: ghost buster take 3
Diffstat (limited to 'digital/io-hub')
-rw-r--r--digital/io-hub/src/guybrush/bottom_clamp.c6
-rw-r--r--digital/io-hub/src/guybrush/top.c4
2 files changed, 4 insertions, 6 deletions
diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c
index 9d3d156b..12313d24 100644
--- a/digital/io-hub/src/guybrush/bottom_clamp.c
+++ b/digital/io-hub/src/guybrush/bottom_clamp.c
@@ -32,7 +32,6 @@
#include "bottom_clamp.h"
#include "pressure.h"
#include "strat.h"
-#include "radar_defs.h"
#define FSM_NAME AI
@@ -586,7 +585,6 @@ FSM_TRANS (CLAMP_IDLE, tree_detected,CLAMP_BOTTOM_CLAMP_HIDE_POS)
FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS, lower_clamp_rotation_success, CLAMP_UNFOLD_UPPER_SET)
{
- radar_def_upper_clamp_moving (1);
IO_CLR (OUTPUT_UPPER_CLAMP_UP);
IO_SET (OUTPUT_UPPER_CLAMP_DOWN);
return FSM_NEXT (CLAMP_BOTTOM_CLAMP_HIDE_POS, lower_clamp_rotation_success);
@@ -602,7 +600,6 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS, lower_clamp_rotation_failure, CLAMP_BLOC
FSM_TRANS (CLAMP_UNFOLD_UPPER_SET, upper_set_down, CLAMP_BOTTOM_CLAMP_READY)
{
- radar_def_upper_clamp_moving (0);
/*Putting the bottom clamp back to ready.*/
move_needed2(DECALAGE_CD_BAS,FAST_ROTATION,-1);
@@ -691,7 +688,6 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS2, lower_clamp_rotation_failure, CLAMP_BLO
FSM_TRANS_TIMEOUT (CLAMP_RELEASE_ASSERV, TIMEOUT_FREE_ASSERV, CLAMP_FOLD_UPPER_SET)
{
- radar_def_upper_clamp_moving (1);
IO_CLR (OUTPUT_UPPER_CLAMP_DOWN);
IO_SET (OUTPUT_UPPER_CLAMP_UP);
return FSM_NEXT_TIMEOUT (CLAMP_RELEASE_ASSERV);
@@ -699,7 +695,6 @@ FSM_TRANS_TIMEOUT (CLAMP_RELEASE_ASSERV, TIMEOUT_FREE_ASSERV, CLAMP_FOLD_UPPER_S
}
FSM_TRANS (CLAMP_FOLD_UPPER_SET, upper_set_up, CLAMP_OPEN_UPPER_CLAMPS)
{
- radar_def_upper_clamp_moving (0);
IO_SET (OUTPUT_UPPER_CLAMP_OPEN);
IO_CLR (OUTPUT_UPPER_CLAMP_IN);
IO_SET (OUTPUT_UPPER_CLAMP_OUT);
@@ -798,7 +793,6 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_BACK,lower_clamp_rotation_failure,CLAMP_BLOCKED)
FSM_TRANS (CLAMP_UNFOLD_UPPER_SET, stop_tree_approach,CLAMP_RELEASE_ASSERV)
{
- radar_def_upper_clamp_moving (0);
ctx.stop_tree_approach = 1;
return FSM_NEXT (CLAMP_UNFOLD_UPPER_SET, stop_tree_approach);
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);
}