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authorJérémy Dufour2008-04-24 00:58:41 +0200
committerJérémy Dufour2008-04-24 00:58:41 +0200
commit695edea0c415b0da4413d662bc7553d789b2a70e (patch)
treec05eb20991a2295e4c1967be3a48947c6d94db2e /digital/io
parente2046a06ee91772f0fa7ac8f139044a8a0620098 (diff)
* digital/io/src
- integrate move FSM into main loop.
Diffstat (limited to 'digital/io')
-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 61dc77bb..c0699f61 100644
--- a/digital/io/src/main.c
+++ b/digital/io/src/main.c
@@ -139,6 +139,8 @@ main_loop (void)
GETSAMPLES_EVENT_bot_move_succeed);
fsm_handle_event (&gutter_fsm,
GUTTER_EVENT_bot_move_succeed);
+ fsm_handle_event (&move_fsm,
+ MOVE_EVENT_reached);
}
else if (move_status == failure)
{
@@ -147,6 +149,8 @@ main_loop (void)
GETSAMPLES_EVENT_bot_move_failed);
fsm_handle_event (&gutter_fsm,
GUTTER_EVENT_bot_move_failed);
+ fsm_handle_event (&move_fsm,
+ MOVE_EVENT_blocked);
}
asserv_status_e arm_status = asserv_last_cmd_ack ()
? asserv_arm_cmd_status () : none;