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authorNicolas Schodet2010-05-13 07:50:15 +0200
committerNicolas Schodet2010-05-13 07:50:15 +0200
commitbc0cafe5feed295ecae01f90ca5a4279e4896f39 (patch)
tree71be0541954e6dd0e75ba7f9eb78c36400f4cb18 /digital/io/src/main.c
parentc54a5b392b8aeaeb9e14983eae9be2232f6e1d44 (diff)
digital/io/src: add more blocking handling in loader FSM
Diffstat (limited to 'digital/io/src/main.c')
-rw-r--r--digital/io/src/main.c2
1 files changed, 2 insertions, 0 deletions
diff --git a/digital/io/src/main.c b/digital/io/src/main.c
index 6571e9a4..63de17b1 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -187,6 +187,8 @@ main_event_to_fsm (void)
if (motorm0_status == success && motorm1_status == success)
FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_clamp_succeed);
+ else if (motorm0_status == failure || motorm1_status == failure)
+ FSM_HANDLE_EVENT (&ai_fsm, AI_EVENT_clamp_failed);
/* Check positions. */
if (asserv_get_motor0_position () > BOT_ELEVATOR_UNLOAD_STEP)