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-rw-r--r--digital/io-hub/src/robospierre/clamp.c3
1 files changed, 3 insertions, 0 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 6b48c56a..50afda1e 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -103,6 +103,8 @@ FSM_EVENTS (
clamp_new_element,
/* Order to prepare tower. */
clamp_prepare,
+ /* Sent when an element has just been taken (door closed). */
+ clamp_taken,
/* Sent when clamp is working. */
clamp_working,
/* Sent when clamp return to idle state. */
@@ -614,6 +616,7 @@ FSM_TRANS_TIMEOUT (CLAMP_TAKING_DOOR_CLOSING, BOT_PWM_DOOR_CLOSE_TIME,
clamp_locked, CLAMP_LOCKED,
done, CLAMP_IDLE)
{
+ fsm_queue_post_event (FSM_EVENT (AI, clamp_taken));
logistic_element_new (ctx.pos_new, ctx.new_element_type);
if (logistic_global.moving_from != CLAMP_SLOT_NB)
{