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authorJérémy Dufour2008-04-14 12:04:45 +0200
committerJérémy Dufour2008-04-14 12:04:45 +0200
commit203525d84bafff3b1f9fcfff4b0f51bb45c7fa0e (patch)
tree15669fabc5ec8cd538a7f462769b8a616f4b9d0a /digital/io/src/getsamples_cb.c
parent011fd3e4e4d252d02df156a7679c6156cdc72c6a (diff)
* digital/io/src
- add notifier for the desired arm position ; - integrate it in the get samples FSM.
Diffstat (limited to 'digital/io/src/getsamples_cb.c')
-rw-r--r--digital/io/src/getsamples_cb.c6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/io/src/getsamples_cb.c b/digital/io/src/getsamples_cb.c
index 5e963ce6..85dca001 100644
--- a/digital/io/src/getsamples_cb.c
+++ b/digital/io/src/getsamples_cb.c
@@ -86,6 +86,12 @@ getsamples__TAKE_SAMPLES__arm_pass_noted_position (void)
/* More samples? */
if (getsamples_data.sample_bitfield)
{
+ /* Compute notifier */
+ uint16_t arm_current_position = asserv_get_arm_position ();
+ uint16_t arm_notify_position =
+ arm_current_position + BOT_ARM_NOTED_POSITION -
+ (arm_current_position % BOT_ARM_THIRD_ROUND);
+ asserv_arm_set_position_reached (arm_notify_position);
/* Prepare classification */
getsamples_configure_classifier ();
/* Continue to take sample */