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authorJerome Jutteau2013-03-05 19:48:54 +0100
committerJerome Jutteau2013-03-17 15:10:13 +0100
commit4af6e816f0ca13d7ee85ce5892520e493782e33c (patch)
treea2c5666d9b54e8bf70096c652743e0461ffe6634 /digital/io/src/init.c
parent0af4e01b4afb870a0e4c259f2af67ff5d1a154e4 (diff)
digital/io/src: update FSM
Diffstat (limited to 'digital/io/src/init.c')
-rw-r--r--digital/io/src/init.c13
1 files changed, 0 insertions, 13 deletions
diff --git a/digital/io/src/init.c b/digital/io/src/init.c
index 77701c2b..7915e961 100644
--- a/digital/io/src/init.c
+++ b/digital/io/src/init.c
@@ -82,7 +82,6 @@ FSM_START_WITH (INIT_IDLE)
*/
FSM_TRANS (INIT_IDLE, start, INIT_WAIT_FIRST_JACK_IN)
{
- return FSM_NEXT (INIT_IDLE, start);
}
/*
@@ -92,7 +91,6 @@ FSM_TRANS (INIT_WAIT_FIRST_JACK_IN,
jack_inserted_into_bot,
INIT_WAIT_FIRST_JACK_OUT)
{
- return FSM_NEXT (INIT_WAIT_FIRST_JACK_IN, jack_inserted_into_bot);
}
/*
@@ -107,7 +105,6 @@ FSM_TRANS (INIT_WAIT_FIRST_JACK_OUT,
trace_init ();
/* Get the color. */
team_color = switch_get_color ();
- return FSM_NEXT (INIT_WAIT_FIRST_JACK_OUT, jack_removed_from_bot);
}
/*
@@ -117,7 +114,6 @@ FSM_TRANS (INIT_WAIT_SECOND_JACK_IN,
jack_inserted_into_bot,
INIT_WAIT_FOR_HANDS_OUT)
{
- return FSM_NEXT (INIT_WAIT_SECOND_JACK_IN, jack_inserted_into_bot);
}
/*
@@ -128,7 +124,6 @@ FSM_TRANS_TIMEOUT (INIT_WAIT_FOR_HANDS_OUT, 225,
{
/* Go to the wall, no backward. */
asserv_go_to_the_wall (0);
- return FSM_NEXT_TIMEOUT (INIT_WAIT_FOR_HANDS_OUT);
}
/*
@@ -144,7 +139,6 @@ FSM_TRANS (INIT_GO_TO_THE_WALL,
asserv_set_angle_position (PG_A_DEG (90));
/* Move away from the border. */
asserv_move_linearly (- INIT_DIST);
- return FSM_NEXT (INIT_GO_TO_THE_WALL, bot_move_succeed);
}
/*
@@ -156,7 +150,6 @@ FSM_TRANS (INIT_GO_AWAY_FROM_THE_WALL,
{
/* Face the other wall. */
asserv_goto_angle (PG_A_DEG (180));
- return FSM_NEXT (INIT_GO_AWAY_FROM_THE_WALL, bot_move_succeed);
}
/*
@@ -166,7 +159,6 @@ FSM_TRANS (INIT_FACE_OTHER_WALL,
bot_move_succeed,
INIT_WAIT_AFTER_ROTATION)
{
- return FSM_NEXT (INIT_FACE_OTHER_WALL, bot_move_succeed);
}
/*
@@ -177,7 +169,6 @@ FSM_TRANS_TIMEOUT (INIT_WAIT_AFTER_ROTATION, 100,
{
/* Go to the wall, no backward. */
asserv_go_to_the_wall (0);
- return FSM_NEXT_TIMEOUT (INIT_WAIT_AFTER_ROTATION);
}
/*
@@ -191,7 +182,6 @@ FSM_TRANS (INIT_GO_TO_THE_WALL_AGAIN,
asserv_set_x_position (PG_X (BOT_SIZE_FRONT));
/* Move away from the border. */
asserv_move_linearly (- INIT_DIST);
- return FSM_NEXT (INIT_GO_TO_THE_WALL_AGAIN, bot_move_succeed);
}
/*
@@ -203,7 +193,6 @@ FSM_TRANS (INIT_GO_AWAY_FROM_THE_WALL_AGAIN,
{
/* Move away from the border. */
asserv_goto_xya (BOT_INIT_XYA, 0);
- return FSM_NEXT (INIT_GO_AWAY_FROM_THE_WALL_AGAIN, bot_move_succeed);
}
/*
@@ -213,7 +202,6 @@ FSM_TRANS (INIT_GO_TO_START_POSITION,
bot_move_succeed,
INIT_WAIT_SECOND_JACK_OUT)
{
- return FSM_NEXT (INIT_GO_TO_START_POSITION, bot_move_succeed);
}
/*
@@ -228,5 +216,4 @@ FSM_TRANS (INIT_WAIT_SECOND_JACK_OUT,
init_match_is_started = 1;
/* Start the chrono. */
chrono_start ();
- return FSM_NEXT (INIT_WAIT_SECOND_JACK_OUT, jack_removed_from_bot);
}