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Diffstat (limited to 'digital/io-hub/src/guybrush/top.c')
-rw-r--r--digital/io-hub/src/guybrush/top.c3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index 6655afd9..28b6e107 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -437,6 +437,7 @@ FSM_TRANS (TOP_TOTEM_EMPTYING, clamps_ready, TOP_TOTEM_GOING_BACK)
{
strat_success ();
move_start_noangle (top.decision_pos, ASSERV_BACKWARD, 0);
+ strat_prepare ();
return FSM_NEXT (TOP_TOTEM_EMPTYING, clamps_ready);
}
@@ -595,6 +596,7 @@ FSM_TRANS (TOP_BOTTLE_PUSHING, robot_move_success, TOP_BOTTLE_GOING_BACK)
asserv_stop_motor ();
strat_success ();
move_start_noangle (top.decision_pos, 0, 0);
+ strat_prepare ();
return FSM_NEXT (TOP_BOTTLE_PUSHING, robot_move_success);
}
@@ -604,6 +606,7 @@ FSM_TRANS (TOP_BOTTLE_PUSHING, robot_move_failure, TOP_BOTTLE_GOING_BACK)
asserv_stop_motor ();
strat_success ();
move_start_noangle (top.decision_pos, 0, 0);
+ strat_prepare ();
return FSM_NEXT (TOP_BOTTLE_PUSHING, robot_move_failure);
}