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-rw-r--r--digital/io/src/getsamples/getsamples_cb.c116
1 files changed, 0 insertions, 116 deletions
diff --git a/digital/io/src/getsamples/getsamples_cb.c b/digital/io/src/getsamples/getsamples_cb.c
deleted file mode 100644
index de10ac53..00000000
--- a/digital/io/src/getsamples/getsamples_cb.c
+++ /dev/null
@@ -1,116 +0,0 @@
-/*
- * THIS IS AN AUTOMATICALLY GENERATED FILE, DO NOT EDIT!
- *
- * Skeleton for get_samples callbacks implementation.
- *
- *
- */
-#include "getsamples_cb.h"
-
-/*
- * PREPARE_ARM =arm_moved=>
- * => FORWARD_CONTROL
- * Prepare the arm to the correct position.
- */
-getsamples_branch_t
-getsamples__PREPARE_ARM__arm_moved (getsamples_t *user)
-{
- // Try to end the position to the distributor.
- asserv_set_x_position (user->distributor_x);
- // Go to the color distributor.
- asserv_set_y_position (user->distributor_y);
- return getsamples_next (PREPARE_ARM, arm_moved);
-}
-
-/*
- * FORWARD_CONTROL =position_reached=>
- * => TAKE_SAMPLES
- * End the position to the distributor.
- */
-getsamples_branch_t
-getsamples__FORWARD_CONTROL__position_reached (getsamples_t *user)
-{
- // Take as many samples as necessary. This shall be updated to verify the
- asserv_move_arm (1666, 100);
- return getsamples_next (FORWARD_CONTROL, position_reached);
-}
-
-/*
- * START =ok=>
- * => GO_TO_POSITION
- * Go to the distributor. The distributor to reach shall be setted in the fsm structure.
- */
-getsamples_branch_t
-getsamples__START__ok (getsamples_t *user)
-{
- asserv_set_x_position (user->distributor_x - 20);
- asserv_set_y_position (user->distributor_y - 20);
- return getsamples_next (START, ok);
-}
-
-/**
- * TAKE_SAMPLES =sample_took=>
- * no_more => BACKWARD
- * If the quantity of samples are tooked, then go backeward and conitnue classifying the samples.
- * more => TAKE_SAMPLES
- * Continue to take samples and classify the next sample.
- */
-getsamples_branch_t
-getsamples__TAKE_SAMPLES__sample_took (getsamples_t *user)
-{
- // Decrement the samples counter.
- if (user->samples)
- {
- asserv_move_arm (1666, 100);
- return getsamples_next_branch (TAKE_SAMPLES, sample_took, more);
- }
- else
- {
- asserv_move_arm (5000, 100);
- // Try to end the position to the distributor.
- asserv_set_x_position (user->distributor_x - 20);
- // Go to the color distributor.
- asserv_set_y_position (user->distributor_y - 20);
-
- return getsamples_next_branch (TAKE_SAMPLES, sample_took, no_more);
- }
-}
-
-/*
- * BACKWARD =position_reached=>
- * => END
- * Ending this state machine.
- */
-getsamples_branch_t
-getsamples__BACKWARD__position_reached (getsamples_t *user)
-{
- return getsamples_next (BACKWARD, position_reached);
-}
-
-/*
- * GO_TO_POSITION =position_failed=>
- * => GO_TO_POSITION
- * Go to another point before trying to go to this one again.
- */
-getsamples_branch_t
-getsamples__GO_TO_POSITION__position_failed (getsamples_t *user)
-{
- // TODO In this case i don't know what to do.
- return getsamples_next (GO_TO_POSITION, position_failed);
-}
-
-/*
- * GO_TO_POSITION =position_reached=>
- * => PREPARE_ARM
- * Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor.
- */
-getsamples_branch_t
-getsamples__GO_TO_POSITION__position_reached (getsamples_t *user)
-{
- // Put the ARM in the position to allow the robot to take samples from the
- // distributor.
- asserv_move_arm (625, 100);
- return getsamples_next (GO_TO_POSITION, position_reached);
-}
-
-