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authorNicolas Schodet2013-04-26 23:36:49 +0200
committerNicolas Schodet2013-04-26 23:36:49 +0200
commit906b065a1aa4fa09a1d410ea2979f55252ed2eea (patch)
tree4375ba3ba3f9fca4fdc18c84541b34e23272fa9e /digital
parent566f78ca8597c231838fad52e33761cc718723e4 (diff)
digital/io-hub/src/apbirthday: prefer backward movement for plates
Diffstat (limited to 'digital')
-rw-r--r--digital/io-hub/src/apbirthday/top.cc4
1 files changed, 2 insertions, 2 deletions
diff --git a/digital/io-hub/src/apbirthday/top.cc b/digital/io-hub/src/apbirthday/top.cc
index 28d95811..0fb37ca1 100644
--- a/digital/io-hub/src/apbirthday/top.cc
+++ b/digital/io-hub/src/apbirthday/top.cc
@@ -328,7 +328,7 @@ FSM_TRANS_TIMEOUT (TOP_DECISION, 1,
return FSM_BRANCH (candles);
case Strat::PLATE:
robot->strat.decision_plate (top.plate);
- robot->move.start (d_pos);
+ robot->move.start (d_pos, Asserv::BACKWARD_REVERT_OK);
return FSM_BRANCH (plate);
default:
ucoo::assert_unreachable ();
@@ -462,7 +462,7 @@ FSM_TRANS (TOP_PLATE_GOTO, move_failure, TOP_DECISION)
FSM_TRANS (TOP_PLATE_DROPING, plate_droped, TOP_PLATE_GOTO)
{
top.plate.drop = false;
- robot->move.start (top.plate.approaching_pos);
+ robot->move.start (top.plate.approaching_pos, Asserv::BACKWARD_REVERT_OK);
}
FSM_TRANS (TOP_PLATE_APPROACH, move_success, TOP_DECISION)