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authorNicolas Haller2009-05-15 00:36:58 +0200
committerNicolas Haller2009-05-15 00:36:58 +0200
commit78204f6bcba74ab5c5505ac06c3384e193177718 (patch)
tree04e23aa4753cc68be6c11762408f89cb2d409c67 /digital/io/src/elevator_cb.c
parent473d501d1ead422ecc9680cb20e46a04a6356ed8 (diff)
* digital/io/src:
- work on elevator fsm
Diffstat (limited to 'digital/io/src/elevator_cb.c')
-rw-r--r--digital/io/src/elevator_cb.c9
1 files changed, 4 insertions, 5 deletions
diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c
index f1184cc8..d20496dc 100644
--- a/digital/io/src/elevator_cb.c
+++ b/digital/io/src/elevator_cb.c
@@ -32,16 +32,13 @@
#include "filterbridge.h"
/* Positions when waiting a puck*/
-uint16_t posx[4] = {0,0,0,0};
+uint16_t posx[4] = {0,25,55,85};
/* Positions when we go to a target zone */
-uint16_t posy[3] = {0,0,0};
+uint16_t posy[3] = {125,95,65};
/* nb puck on the elevator */
uint8_t nb_puck_elvt = 0;
-/* ready flag */
-uint8_t elevator_is_ready = 0;
-
/* increase/decrease of pos y */
#define MAJ_POSY 100
#define MIN_POSY 50
@@ -113,6 +110,7 @@ elevator__WAIT_A_PUCK__new_puck (void)
{
elevator_is_ready = 0;
++nb_puck_in_elvt;
+ elvt_new_puck = 0;
// TODO time_ok
if(nb_puck_elvt < 4 &&
((chrono_remaining_time() - OK_TIME_LIMIT > 0)
@@ -123,6 +121,7 @@ elevator__WAIT_A_PUCK__new_puck (void)
}
/*
+ * TODO time_up
* WAIT_A_PUCK =time_up=>
* => WAIT_POS_ORDER
* no more time to wait a new puck