From 664861716254b9bad07f9c0c5a917834361e2aeb Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 18 May 2009 17:46:31 +0200 Subject: * digital/io/src: - get the color of the bot earlier. --- digital/io/src/init.fsm | 2 +- digital/io/src/init_cb.c | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm index c1700e50..72db9a6f 100644 --- a/digital/io/src/init.fsm +++ b/digital/io/src/init.fsm @@ -67,6 +67,7 @@ WAIT_FIRST_JACK_IN: WAIT_FIRST_JACK_OUT: jack_removed_from_bot -> WAIT_SECOND_JACK_IN start trace module. + get and store the color of the bot. WAIT_SECOND_JACK_IN: jack_inserted_into_bot -> WAIT_FOR_HANDS_OUT @@ -90,7 +91,6 @@ SET_ANGULAR_POSITION: GO_AWAY_FROM_THE_WALL: bot_move_succeed -> FACE_OTHER_WALL - get and store the color of the bot. turn to face the other wall. FACE_OTHER_WALL: diff --git a/digital/io/src/init_cb.c b/digital/io/src/init_cb.c index 54fff5ac..f763aaed 100644 --- a/digital/io/src/init_cb.c +++ b/digital/io/src/init_cb.c @@ -59,12 +59,15 @@ init__WAIT_FIRST_JACK_IN__jack_inserted_into_bot (void) * WAIT_FIRST_JACK_OUT =jack_removed_from_bot=> * => WAIT_SECOND_JACK_IN * start trace module. + * get and store the color of the bot. */ fsm_branch_t init__WAIT_FIRST_JACK_OUT__jack_removed_from_bot (void) { /* Initialize trace module (erase the flash). */ trace_init (); + /* Get the color. */ + bot_color = switch_get_color (); return init_next (WAIT_FIRST_JACK_OUT, jack_removed_from_bot); } @@ -140,8 +143,6 @@ init__SET_ANGULAR_POSITION__asserv_last_cmd_ack (void) fsm_branch_t init__GO_AWAY_FROM_THE_WALL__bot_move_succeed (void) { - /* Get the color. */ - bot_color = switch_get_color (); /* Face the other wall. */ asserv_goto_angle (PG_A_VALUE_COMPUTING (180 * BOT_ANGLE_DEGREE)); return init_next (GO_AWAY_FROM_THE_WALL, bot_move_succeed); -- cgit v1.2.3