From 734b5b06dd0421c3c0ab9fbc282510801869ab4c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 14 May 2010 04:34:28 +0200 Subject: digital/io/src: open clamp on blocking --- digital/io/src/ai_loader_cb.c | 6 ++++++ digital/io/src/loader.fsm | 2 ++ 2 files changed, 8 insertions(+) diff --git a/digital/io/src/ai_loader_cb.c b/digital/io/src/ai_loader_cb.c index 6afa73f8..632b7504 100644 --- a/digital/io/src/ai_loader_cb.c +++ b/digital/io/src/ai_loader_cb.c @@ -450,11 +450,14 @@ ai__LOADER_LOAD_UPING__elevator_unload_position (void) * LOADER_LOAD_UPING =elevator_failed=> * => LOADER_ERROR * post loader_errored event + * open clamp */ fsm_branch_t ai__LOADER_LOAD_UPING__elevator_failed (void) { main_post_event (AI_EVENT_loader_errored); + mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); + mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); return ai_next (LOADER_LOAD_UPING, elevator_failed); } @@ -472,11 +475,14 @@ ai__LOADER_LOAD_UNLOADING__elevator_succeed (void) * LOADER_LOAD_UNLOADING =elevator_failed=> * => LOADER_ERROR * post loader_errored event + * open clamp */ fsm_branch_t ai__LOADER_LOAD_UNLOADING__elevator_failed (void) { main_post_event (AI_EVENT_loader_errored); + mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); + mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); return ai_next (LOADER_LOAD_UNLOADING, elevator_failed); } diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm index 00366ed5..410021b9 100644 --- a/digital/io/src/loader.fsm +++ b/digital/io/src/loader.fsm @@ -190,11 +190,13 @@ LOADER_LOAD_UPING: open clamp elevator_failed -> LOADER_ERROR post loader_errored event + open clamp LOADER_LOAD_UNLOADING: elevator_succeed -> LOADER_LOAD_UNLOADING_OPEN elevator_failed -> LOADER_ERROR post loader_errored event + open clamp LOADER_LOAD_UNLOADING_OPEN: clamp_succeed: down -> LOADER_DOWNING -- cgit v1.2.3