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-rw-r--r--digital/io-hub/src/guybrush/top.c12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c
index eb1cc0a5..8bda0462 100644
--- a/digital/io-hub/src/guybrush/top.c
+++ b/digital/io-hub/src/guybrush/top.c
@@ -465,6 +465,12 @@ FSM_TRANS (TOP_TOTEM_CLEAN_STARTING, clamp_blocked,
return FSM_NEXT (TOP_TOTEM_CLEAN_STARTING, clamp_blocked);
}
+FSM_TRANS_TIMEOUT (TOP_TOTEM_CLEAN_STARTING, 5 * 250, TOP_DECISION)
+{
+ strat_bad_failure ();
+ return FSM_NEXT_TIMEOUT (TOP_TOTEM_CLEAN_STARTING);
+}
+
FSM_TRANS (TOP_TOTEM_CLEAN_CATCH_WAITING, clamp_blocked,
TOP_TOTEM_CLAMP_ERROR_GOING_BACK)
{
@@ -489,6 +495,12 @@ FSM_TRANS (TOP_TOTEM_CLAMP_DOWNING, clamp_blocked,
return FSM_NEXT (TOP_TOTEM_CLAMP_DOWNING, clamp_blocked);
}
+FSM_TRANS_TIMEOUT (TOP_TOTEM_CLAMP_DOWNING, 5 * 250, TOP_DECISION)
+{
+ strat_bad_failure ();
+ return FSM_NEXT_TIMEOUT (TOP_TOTEM_CLAMP_DOWNING);
+}
+
FSM_TRANS (TOP_TOTEM_APPROACHING, robot_move_failure,
TOP_TOTEM_ERROR_GOING_BACK)
{