From 204b0a6df044825a13c990565bbfa027c9b03009 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Wed, 2 Apr 2008 23:28:35 +0200 Subject: Modified the asserv_go_to_gutter function name to asserv_go_to_distributor. --- digital/io/src/asserv.c | 4 ++-- digital/io/src/asserv.h | 4 ++-- digital/io/src/getsamples_cb.c | 10 ++++------ digital/io/src/test/testgetsamples/main.c | 6 ++++++ 4 files changed, 14 insertions(+), 10 deletions(-) diff --git a/digital/io/src/asserv.c b/digital/io/src/asserv.c index 3c79c135..6849db43 100644 --- a/digital/io/src/asserv.c +++ b/digital/io/src/asserv.c @@ -268,9 +268,9 @@ asserv_go_to_the_wall (void) asserv_twi_send_command ('f', 0); } -/* Move forward to approach a gutter. */ +/* Move forward to approach a ditributor. */ void -asserv_go_to_gutter (void) +asserv_go_to_distributor (void) { /* Send the go the gutter command to the asserv board */ asserv_twi_send_command ('F', 0); diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h index 005ae7a3..2f2e7f51 100644 --- a/digital/io/src/asserv.h +++ b/digital/io/src/asserv.h @@ -172,11 +172,11 @@ void asserv_go_to_the_wall (void); /** - * Move forward to approach a gutter. + * Move forward to approach a distributor. * Move class command. */ void -asserv_go_to_gutter (void); +asserv_go_to_distributor (void); /** * Move the arm. diff --git a/digital/io/src/getsamples_cb.c b/digital/io/src/getsamples_cb.c index aeb7f586..916027c3 100644 --- a/digital/io/src/getsamples_cb.c +++ b/digital/io/src/getsamples_cb.c @@ -36,10 +36,8 @@ fsm_branch_t getsamples__PREPARE_ARM__arm_moved (void) { - // Try to end the position to the distributor. - asserv_set_x_position (getsamples_data.distributor_x); - // Go to the color distributor. - asserv_set_y_position (getsamples_data.distributor_y); + // final + asserv_go_to_distributor (); return getsamples_next (PREPARE_ARM, arm_moved); } @@ -64,8 +62,8 @@ getsamples__FORWARD_CONTROL__position_reached (void) fsm_branch_t getsamples__START__ok (void) { - asserv_set_x_position (getsamples_data.distributor_x - 20); - asserv_set_y_position (getsamples_data.distributor_y - 20); + asserv_set_x_position (getsamples_data.distributor_x - 100); + asserv_set_y_position (getsamples_data.distributor_y - 100); return getsamples_next (START, ok); } diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c index 7d106315..c8e11a46 100644 --- a/digital/io/src/test/testgetsamples/main.c +++ b/digital/io/src/test/testgetsamples/main.c @@ -143,3 +143,9 @@ trap_close_rear_panel (void) printf ("Close rear panel\n"); } +void +asserv_go_to_distributor (void) +{ + printf ("Go to distributor\n"); +} + -- cgit v1.2.3