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-rw-r--r--digital/io/src/gutter_cb.c52
1 files changed, 37 insertions, 15 deletions
diff --git a/digital/io/src/gutter_cb.c b/digital/io/src/gutter_cb.c
index 729c187f..30166929 100644
--- a/digital/io/src/gutter_cb.c
+++ b/digital/io/src/gutter_cb.c
@@ -1,19 +1,41 @@
-/*
- * THIS IS AN AUTOMATICALLY GENERATED FILE, DO NOT EDIT!
+/* gutter_cb.c - gutter 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 "gutter_cb.h"
+#include "asserv.h"
+#include "trap.h"
+#include "modules/utils/utils.h"
/*
* START =ok=>
* => GO_TO_GUTTER
* Go to the gutter.
*/
-gutter_branch_t
-gutter__START__ok (gutter_t *user)
+fsm_branch_t
+gutter__START__ok (void)
{
asserv_go_to_gutter();
return gutter_next (START, ok);
@@ -24,8 +46,8 @@ gutter__START__ok (gutter_t *user)
* => END
* The samples has been inserted in the gutter.
*/
-gutter_branch_t
-gutter__CLOSE_COLLECTOR__collector_closed (gutter_t *user)
+fsm_branch_t
+gutter__CLOSE_COLLECTOR__collector_closed (void)
{
//Close the collector.
trap_close_rear_panel();
@@ -37,8 +59,8 @@ gutter__CLOSE_COLLECTOR__collector_closed (gutter_t *user)
* => GO_TO_GUTTER
* The position failed, shall try another path.
*/
-gutter_branch_t
-gutter__GO_TO_GUTTER__position_failed (gutter_t *user)
+fsm_branch_t
+gutter__GO_TO_GUTTER__position_failed (void)
{
return gutter_next (GO_TO_GUTTER, position_failed);
}
@@ -48,8 +70,8 @@ gutter__GO_TO_GUTTER__position_failed (gutter_t *user)
* => OPEN_COLLECTOR
* The robo is near the gutter and the door can be opened.
*/
-gutter_branch_t
-gutter__GO_TO_GUTTER__position_reached (gutter_t *user)
+fsm_branch_t
+gutter__GO_TO_GUTTER__position_reached (void)
{
// Open the collector.
trap_open_rear_panel();
@@ -61,8 +83,8 @@ gutter__GO_TO_GUTTER__position_reached (gutter_t *user)
* => CLOSE_COLLECTOR
* Wait some time and clse the door.
*/
-gutter_branch_t
-gutter__OPEN_COLLECTOR__collector_opened (gutter_t *user)
+fsm_branch_t
+gutter__OPEN_COLLECTOR__collector_opened (void)
{
utils_delay_ms(4.4);
return gutter_next (OPEN_COLLECTOR, collector_opened);