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authorNicolas Schodet2010-05-10 23:55:18 +0200
committerNicolas Schodet2010-05-10 23:55:18 +0200
commit0b7b203b4d6cc0e8efaadee8c1ad051276d0b3c8 (patch)
treec235f41ac71284e3712e04d60ec2db5b1ace5be8 /digital/io/src/ai_loader_cb.c
parent65fbfae8ed9893881fe0279e86155b807eb59eea (diff)
digital/io/src: move clamp all the way up
Diffstat (limited to 'digital/io/src/ai_loader_cb.c')
-rw-r--r--digital/io/src/ai_loader_cb.c24
1 files changed, 17 insertions, 7 deletions
diff --git a/digital/io/src/ai_loader_cb.c b/digital/io/src/ai_loader_cb.c
index fa85c4e7..46e9b60c 100644
--- a/digital/io/src/ai_loader_cb.c
+++ b/digital/io/src/ai_loader_cb.c
@@ -252,7 +252,7 @@ ai__LOADER_LOAD_CLOSING__clamp_succeed (void)
- mimot_get_motor1_position ();
if (tickness > BOT_CLAMP_EMPTY_STEP)
{
- asserv_move_motor0_absolute (BOT_ELEVATOR_UNLOAD_STEP,
+ asserv_move_motor0_absolute (BOT_ELEVATOR_STROKE_STEP,
BOT_ELEVATOR_SPEED);
return ai_next_branch (LOADER_LOAD_CLOSING, clamp_succeed, full);
}
@@ -265,28 +265,38 @@ ai__LOADER_LOAD_CLOSING__clamp_succeed (void)
}
/*
- * LOADER_LOAD_UPING =elevator_succeed=>
+ * LOADER_LOAD_UPING =elevator_unload_position=>
* => LOADER_LOAD_UNLOADING
* open clamp
*/
fsm_branch_t
-ai__LOADER_LOAD_UPING__elevator_succeed (void)
+ai__LOADER_LOAD_UPING__elevator_unload_position (void)
{
mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED);
mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED);
- return ai_next (LOADER_LOAD_UPING, elevator_succeed);
+ return ai_next (LOADER_LOAD_UPING, elevator_unload_position);
}
/*
- * LOADER_LOAD_UNLOADING =clamp_succeed=>
+ * LOADER_LOAD_UNLOADING =elevator_succeed=>
+ * => LOADER_LOAD_UNLOADING_OPEN
+ */
+fsm_branch_t
+ai__LOADER_LOAD_UNLOADING__elevator_succeed (void)
+{
+ return ai_next (LOADER_LOAD_UNLOADING, elevator_succeed);
+}
+
+/*
+ * LOADER_LOAD_UNLOADING_OPEN =clamp_succeed=>
* => LOADER_DOWNING
* move down
*/
fsm_branch_t
-ai__LOADER_LOAD_UNLOADING__clamp_succeed (void)
+ai__LOADER_LOAD_UNLOADING_OPEN__clamp_succeed (void)
{
asserv_move_motor0_absolute (BOT_ELEVATOR_DOWN_STEP, BOT_ELEVATOR_SPEED);
- return ai_next (LOADER_LOAD_UNLOADING, clamp_succeed);
+ return ai_next (LOADER_LOAD_UNLOADING_OPEN, clamp_succeed);
}
/*