summaryrefslogtreecommitdiff
path: root/digital/io/src/getsamples_cb.c
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/getsamples_cb.c')
-rw-r--r--digital/io/src/getsamples_cb.c75
1 files changed, 47 insertions, 28 deletions
diff --git a/digital/io/src/getsamples_cb.c b/digital/io/src/getsamples_cb.c
index 27f0d9b0..aeb7f586 100644
--- a/digital/io/src/getsamples_cb.c
+++ b/digital/io/src/getsamples_cb.c
@@ -1,12 +1,31 @@
-/*
- * THIS IS AN AUTOMATICALLY GENERATED FILE, DO NOT EDIT!
+/* getsamples_cb.c - getsamples FSM callbacks. */
+/* {{{
*
- * Skeleton for get_samples callbacks implementation.
+ * Copyright (C) 2008 NĂ©lio Laranjeiro
*
- *
- */
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "fsm.h"
#include "getsamples_cb.h"
-#include "getsamples_robo.h"
+#include "getsamples.h"
#include "asserv.h"
/*
@@ -14,13 +33,13 @@
* => FORWARD_CONTROL
* Prepare the arm to the correct position.
*/
-getsamples_branch_t
-getsamples__PREPARE_ARM__arm_moved (getsamples_t *user)
+fsm_branch_t
+getsamples__PREPARE_ARM__arm_moved (void)
{
// Try to end the position to the distributor.
- asserv_set_x_position (user->distributor_x);
+ asserv_set_x_position (getsamples_data.distributor_x);
// Go to the color distributor.
- asserv_set_y_position (user->distributor_y);
+ asserv_set_y_position (getsamples_data.distributor_y);
return getsamples_next (PREPARE_ARM, arm_moved);
}
@@ -29,8 +48,8 @@ getsamples__PREPARE_ARM__arm_moved (getsamples_t *user)
* => TAKE_SAMPLES
* End the position to the distributor.
*/
-getsamples_branch_t
-getsamples__FORWARD_CONTROL__position_reached (getsamples_t *user)
+fsm_branch_t
+getsamples__FORWARD_CONTROL__position_reached (void)
{
// Take as many samples as necessary. This shall be updated to verify the
asserv_move_arm (1666, 100);
@@ -42,26 +61,26 @@ getsamples__FORWARD_CONTROL__position_reached (getsamples_t *user)
* => 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)
+fsm_branch_t
+getsamples__START__ok (void)
{
- asserv_set_x_position (user->distributor_x - 20);
- asserv_set_y_position (user->distributor_y - 20);
+ asserv_set_x_position (getsamples_data.distributor_x - 20);
+ asserv_set_y_position (getsamples_data.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)
+fsm_branch_t
+getsamples__TAKE_SAMPLES__sample_took (void)
{
// Decrement the samples counter.
- if (user->samples)
+ if (getsamples_data.samples)
{
asserv_move_arm (1666, 100);
return getsamples_next_branch (TAKE_SAMPLES, sample_took, more);
@@ -69,9 +88,9 @@ getsamples__TAKE_SAMPLES__sample_took (getsamples_t *user)
else
{
// Try to end the position to the distributor.
- asserv_set_x_position (user->distributor_x - 20);
+ asserv_set_x_position (getsamples_data.distributor_x - 20);
// Go to the color distributor.
- asserv_set_y_position (user->distributor_y - 20);
+ asserv_set_y_position (getsamples_data.distributor_y - 20);
return getsamples_next_branch (TAKE_SAMPLES, sample_took, no_more);
}
@@ -82,8 +101,8 @@ getsamples__TAKE_SAMPLES__sample_took (getsamples_t *user)
* => END
* Ending this state machine.
*/
-getsamples_branch_t
-getsamples__BACKWARD__position_reached (getsamples_t *user)
+fsm_branch_t
+getsamples__BACKWARD__position_reached (void)
{
asserv_move_arm (5000, 100);
return getsamples_next (BACKWARD, position_reached);
@@ -94,8 +113,8 @@ getsamples__BACKWARD__position_reached (getsamples_t *user)
* => 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)
+fsm_branch_t
+getsamples__GO_TO_POSITION__position_failed (void)
{
// TODO In this case i don't know what to do.
return getsamples_next (GO_TO_POSITION, position_failed);
@@ -106,8 +125,8 @@ getsamples__GO_TO_POSITION__position_failed (getsamples_t *user)
* => 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)
+fsm_branch_t
+getsamples__GO_TO_POSITION__position_reached (void)
{
// Put the ARM in the position to allow the robot to take samples from the
// distributor.