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Diffstat (limited to 'digital/io/src/elevator_cb.c')
-rw-r--r--digital/io/src/elevator_cb.c7
1 files changed, 7 insertions, 0 deletions
diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c
index c0cf26c3..deea0d0c 100644
--- a/digital/io/src/elevator_cb.c
+++ b/digital/io/src/elevator_cb.c
@@ -31,6 +31,9 @@
#include "chrono.h"
#include "filterbridge.h"
#include "top.h"
+#include "modules/trace/trace.h"
+#include "trace_event.h"
+#include "cylinder.h"
/* Positions when waiting a puck*/
uint16_t posx[4] =
@@ -181,6 +184,8 @@ elevator__WAIT_BRIDGE_EMPTY__state_timeout (void)
fb_nb_puck = 0;
asserv_move_elevator_absolute(posy[elvt_order - 1] - MAJ_POSY,
ASSERV_ELVT_SPEED_DEFAULT);
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return elevator_next (WAIT_BRIDGE_EMPTY, state_timeout);
}
@@ -269,6 +274,8 @@ elevator__OPEN_DOORS__doors_opened (void)
elvt_nb_puck = 0;
pwm_set(0,0);
elvt_order = 0;
+ TRACE (TRACE_FSM__NBPUCKS, top_total_puck_taken, top_puck_inside_bot,
+ cylinder_nb_puck, fb_nb_puck, elvt_nb_puck);
return elevator_next (OPEN_DOORS, doors_opened);
}