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Diffstat (limited to 'digital/io-hub/src/robospierre/clamp.c')
-rw-r--r--digital/io-hub/src/robospierre/clamp.c17
1 files changed, 14 insertions, 3 deletions
diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c
index 3e7fa9fd..812d4890 100644
--- a/digital/io-hub/src/robospierre/clamp.c
+++ b/digital/io-hub/src/robospierre/clamp.c
@@ -447,10 +447,21 @@ FSM_TRANS (CLAMP_INIT_FINDING_ROTATION_EDGE, clamp_rotation_success,
}
FSM_TRANS (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
- CLAMP_INIT_GOING_REST)
+ rest, CLAMP_INIT_GOING_REST,
+ demo, CLAMP_GOING_IDLE)
{
- clamp_move (CLAMP_BAY_SIDE_ENTER_LEAVE);
- return FSM_NEXT (CLAMP_INIT_FINDING_TOP, clamp_elevation_success);
+ if (IO_GET (CONTACT_STRAT))
+ {
+ clamp_move (CLAMP_BAY_SIDE_ENTER_LEAVE);
+ return FSM_NEXT (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
+ rest);
+ }
+ else
+ {
+ clamp_move (logistic_global.clamp_pos_idle);
+ return FSM_NEXT (CLAMP_INIT_FINDING_TOP, clamp_elevation_success,
+ demo);
+ }
}
FSM_TRANS (CLAMP_INIT_GOING_REST, clamp_move_success, CLAMP_INIT_READY)