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-rw-r--r--digital/io/src/ai_top_cb.c24
1 files changed, 19 insertions, 5 deletions
diff --git a/digital/io/src/ai_top_cb.c b/digital/io/src/ai_top_cb.c
index 173df388..c4a698cf 100644
--- a/digital/io/src/ai_top_cb.c
+++ b/digital/io/src/ai_top_cb.c
@@ -307,18 +307,17 @@ ai__UNLOAD_BACK_BIN__bot_move_failed (void)
/*
* UNLOAD_UNLOAD =state_timeout=>
- * => COLLECT
+ * => HACK_MATCH1
* close gate
- * loader down
- * choose best food to collect
+ * move to hack position
*/
fsm_branch_t
ai__UNLOAD_UNLOAD__state_timeout (void)
{
loader_elements = 0;
asserv_move_motor1_absolute (BOT_GATE_STROKE_STEP, BOT_GATE_SPEED);
- loader_down ();
- top_collect (1);
+ position_t pos = PG_POSITION_DEG (2400, 378, 29);
+ move_start (pos, 0);
return ai_next (UNLOAD_UNLOAD, state_timeout);
}
@@ -350,3 +349,18 @@ ai__COLLECT__move_fsm_failed (void)
return ai_next_branch (COLLECT, move_fsm_failed, unload);
}
+/*
+ * HACK_MATCH1 =move_fsm_succeed=>
+ * => COLLECT
+ * loader down
+ * choose best food to collect
+ */
+fsm_branch_t
+ai__HACK_MATCH1__move_fsm_succeed (void)
+{
+ loader_down ();
+ top_collect (1);
+ loader_choucroute = 1;
+ return ai_next (HACK_MATCH1, move_fsm_succeed);
+}
+