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Diffstat (limited to 'digital/io-hub/src/robospierre/top.c')
-rw-r--r--digital/io-hub/src/robospierre/top.c12
1 files changed, 1 insertions, 11 deletions
diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c
index 52bb05ae..09de28f6 100644
--- a/digital/io-hub/src/robospierre/top.c
+++ b/digital/io-hub/src/robospierre/top.c
@@ -207,14 +207,6 @@ top_decision (void)
return top_go_element ();
}
-static void
-top_taken_pawn (void)
-{
- position_t robot_pos;
- asserv_get_position (&robot_pos);
- element_taken (element_nearest_element_id (robot_pos), ELEMENT_PAWN);
-}
-
FSM_TRANS (TOP_GOING_OUT2, robot_move_success,
clamp_working, TOP_WAITING_CLAMP,
drop, TOP_GOING_TO_DROP,
@@ -281,7 +273,6 @@ FSM_TRANS (TOP_GOING_TO_DROP, move_failure,
FSM_TRANS (TOP_GOING_TO_DROP, clamp_working, TOP_WAITING_CLAMP)
{
- top_taken_pawn ();
move_stop ();
return FSM_NEXT (TOP_GOING_TO_DROP, clamp_working);
}
@@ -291,7 +282,7 @@ FSM_TRANS (TOP_GOING_TO_ELEMENT, move_success,
drop, TOP_GOING_TO_DROP,
element, TOP_GOING_TO_ELEMENT)
{
- element_taken (ctx.target_element_id, ELEMENT_PAWN);
+ element_failure (ctx.target_element_id); /* Do not take this one again. */
if (clamp_working ())
return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_success, clamp_working);
switch (top_decision ())
@@ -318,7 +309,6 @@ FSM_TRANS (TOP_GOING_TO_ELEMENT, move_failure,
FSM_TRANS (TOP_GOING_TO_ELEMENT, clamp_working, TOP_WAITING_CLAMP)
{
- top_taken_pawn ();
move_stop ();
return FSM_NEXT (TOP_GOING_TO_ELEMENT, clamp_working);
}