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authorNicolas Schodet2010-05-13 00:46:21 +0200
committerNicolas Schodet2010-05-13 00:46:21 +0200
commit953ff53ccf92e700c7c25136eabbe6699caa90f9 (patch)
treeae5bcb08266c5c604297d392adce8050ac9cb164 /digital/io/src/ai_top_cb.c
parent3858cf3814d073a279309acbc587648bb10609b9 (diff)
digital/io/src: make angle optional in move FSM
Diffstat (limited to 'digital/io/src/ai_top_cb.c')
-rw-r--r--digital/io/src/ai_top_cb.c12
1 files changed, 4 insertions, 8 deletions
diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c
index 745e0b6a..c057bebf 100644
--- a/digital/io/src/ai_top_cb.c
+++ b/digital/io/src/ai_top_cb.c
@@ -61,8 +61,7 @@ fsm_branch_t
ai__WAIT_INIT_TO_FINISH__init_match_is_started (void)
{
asserv_set_speed (BOT_MOVE_FAST);
- position_t pos = PG_POSITION_DEG (375, 1503, -29);
- move_start (pos, 0);
+ move_start_noangle (PG_VECT (375, 1503), 0);
return ai_next (WAIT_INIT_TO_FINISH, init_match_is_started);
}
@@ -75,8 +74,7 @@ ai__WAIT_INIT_TO_FINISH__init_match_is_started (void)
fsm_branch_t
ai__FIRST_GO_BEGIN_OF_LINE_FAST__move_fsm_succeed (void)
{
- position_t pos = PG_POSITION_DEG (2625, 253, -29);
- move_start (pos, 0);
+ move_start_noangle (PG_VECT (2625, 253), 0);
loader_down ();
return ai_next (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_succeed);
}
@@ -91,8 +89,7 @@ fsm_branch_t
ai__FIRST_GO_BEGIN_OF_LINE_FAST__move_fsm_failed (void)
{
asserv_set_speed (BOT_MOVE_SLOW);
- position_t pos = PG_POSITION_DEG (375, 1503, -29);
- move_start (pos, 0);
+ move_start_noangle (PG_VECT (375, 1503), 0);
return ai_next (FIRST_GO_BEGIN_OF_LINE_FAST, move_fsm_failed);
}
@@ -156,8 +153,7 @@ ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_succeed (void)
fsm_branch_t
ai__FIRST_GO_END_OF_LINE_SLOW__move_fsm_failed (void)
{
- position_t pos = PG_POSITION_DEG (2625, 253, -29);
- move_start (pos, 0);
+ move_start_noangle (PG_VECT (2625, 253), 0);
return ai_next (FIRST_GO_END_OF_LINE_SLOW, move_fsm_failed);
}