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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/main.c
parent65fbfae8ed9893881fe0279e86155b807eb59eea (diff)
digital/io/src: move clamp all the way up
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c4
1 files changed, 4 insertions, 0 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 8ad7c533..fdd98355 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -153,6 +153,10 @@ main_event_to_fsm (void)
if (motorm0_status == success && motorm1_status == success)
FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_clamp_succeed);
+ /* Check positions. */
+ if (asserv_get_motor0_position () > BOT_ELEVATOR_UNLOAD_STEP)
+ FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_elevator_unload_position);
+
/* Contacts. */
if (!IO_GET (CONTACT_BUMPER0) || !IO_GET (CONTACT_BUMPER1))
FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_loader_element);