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Diffstat (limited to 'digital/io-hub/src/robospierre/clamp.c')
-rw-r--r--digital/io-hub/src/robospierre/clamp.c8
1 files changed, 5 insertions, 3 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 0a7654f3..a9a1680b 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -360,14 +360,16 @@ clamp_route (void)
}
else if (pos_current == CLAMP_BAY_FRONT_LEAVING)
{
- if (pos_request == CLAMP_SLOT_SIDE)
+ if (pos_request == CLAMP_SLOT_SIDE
+ || pos_request == CLAMP_BAY_SIDE_ENTER_LEAVE)
pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
else
pos_new = CLAMP_SLOT_BACK_MIDDLE;
}
else if (pos_current == CLAMP_BAY_BACK_LEAVING)
{
- if (pos_request == CLAMP_SLOT_SIDE)
+ if (pos_request == CLAMP_SLOT_SIDE
+ || pos_request == CLAMP_BAY_SIDE_ENTER_LEAVE)
pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE;
else
pos_new = CLAMP_SLOT_FRONT_MIDDLE;
@@ -434,7 +436,7 @@ FSM_TRANS (CLAMP_INIT_FINDING_ROTATION_EDGE, clamp_rotation_success,
FSM_TRANS (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
CLAMP_GOING_IDLE)
{
- clamp_move (CLAMP_SLOT_SIDE);
+ clamp_move (CLAMP_BAY_SIDE_ENTER_LEAVE);
return FSM_NEXT (CLAMP_INIT_FINDING_TOP, clamp_elevation_success);
}