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authorNicolas Schodet2010-05-13 02:59:20 +0200
committerNicolas Schodet2010-05-13 02:59:20 +0200
commit44f55257cae560ee1e949d378504a9a457eb71c0 (patch)
tree74066f7ed9b3a6f57405e8db701994ed3d2b6fb8 /digital/io/src/ai_loader_cb.c
parent645b7d11df890ed99e5b00c8272d4e794060f703 (diff)
digital/asserv, digital/io, host/simu: change gate contact position
Diffstat (limited to 'digital/io/src/ai_loader_cb.c')
-rw-r--r--digital/io/src/ai_loader_cb.c18
1 files changed, 3 insertions, 15 deletions
diff --git a/digital/io/src/ai_loader_cb.c b/digital/io/src/ai_loader_cb.c
index 7de8a652..a51d740e 100644
--- a/digital/io/src/ai_loader_cb.c
+++ b/digital/io/src/ai_loader_cb.c
@@ -63,7 +63,7 @@ ai__LOADER_WAIT_JACK_OUT__jack_removed_from_bot (void)
asserv_motor0_zero_position (-BOT_ELEVATOR_ZERO_SPEED);
mimot_motor0_clamp (BOT_CLAMP_ZERO_SPEED, 0);
mimot_motor1_clamp (BOT_CLAMP_ZERO_SPEED, 0);
- asserv_motor1_zero_position (BOT_GATE_SPEED);
+ asserv_motor1_zero_position (-BOT_GATE_SPEED);
return ai_next (LOADER_WAIT_JACK_OUT, jack_removed_from_bot);
}
@@ -115,13 +115,11 @@ ai__LOADER_INIT_GATE_ZERO__gate_succeed (void)
/*
* LOADER_INIT_ELEVATOR_UP =elevator_succeed=>
- * => LOADER_INIT_GATE_OPEN
- * open gate
+ * => LOADER_INIT_GATE_WAIT
*/
fsm_branch_t
ai__LOADER_INIT_ELEVATOR_UP__elevator_succeed (void)
{
- asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED);
return ai_next (LOADER_INIT_ELEVATOR_UP, elevator_succeed);
}
@@ -140,16 +138,6 @@ ai__LOADER_INIT_ELEVATOR_UP__elevator_failed (void)
}
/*
- * LOADER_INIT_GATE_OPEN =gate_succeed=>
- * => LOADER_INIT_GATE_WAIT
- */
-fsm_branch_t
-ai__LOADER_INIT_GATE_OPEN__gate_succeed (void)
-{
- return ai_next (LOADER_INIT_GATE_OPEN, gate_succeed);
-}
-
-/*
* LOADER_INIT_GATE_WAIT =state_timeout=>
* => LOADER_INIT_GATE_CLOSE
* close gate
@@ -157,7 +145,7 @@ ai__LOADER_INIT_GATE_OPEN__gate_succeed (void)
fsm_branch_t
ai__LOADER_INIT_GATE_WAIT__state_timeout (void)
{
- asserv_move_motor1_absolute (0, BOT_GATE_SPEED);
+ asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED);
return ai_next (LOADER_INIT_GATE_WAIT, state_timeout);
}