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authorNicolas Schodet2011-06-01 12:01:58 +0200
committerNicolas Schodet2011-06-01 12:01:58 +0200
commit6d3e532a65e14fddb242ecc4841becec44253a6b (patch)
tree044391b6d93596e0fb8c59868230e96715d8bd91 /digital
parentfd9d4c27c0fefce4bfde4d85fde34444e4f1421f (diff)
digital/io-hub: handle element in first position
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/robospierre/top.c3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
index 6e2fb6ba..b99e3baf 100644
--- a/digital/io-hub/src/robospierre/top.c
+++ b/digital/io-hub/src/robospierre/top.c
@@ -116,9 +116,12 @@ top_decision (void)
}
FSM_TRANS (TOP_GOING_OUT2, robot_move_success,
+ clamp_working, TOP_WAITING_CLAMP,
drop, TOP_GOING_TO_DROP,
element, TOP_GOING_TO_ELEMENT)
{
+ if (clamp_working ())
+ return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_success, clamp_working);
switch (top_decision ())
{
default: return FSM_NEXT (TOP_GOING_OUT2, robot_move_success, drop);