From 8cce6cd69a8a0c00a73913d4d968034d7d32d937 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 19 May 2012 07:08:25 +0200 Subject: digital/io-hub/src/guybrush: ghost buster take 3 --- digital/io-hub/src/guybrush/top.c | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'digital/io-hub/src/guybrush/top.c') diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c index 28b6e107..c126469c 100644 --- a/digital/io-hub/src/guybrush/top.c +++ b/digital/io-hub/src/guybrush/top.c @@ -40,6 +40,7 @@ #include "strat.h" #include "path.h" #include "bottom_clamp.h" +#include "radar_defs.h" #include "output_defs.h" @@ -290,6 +291,7 @@ FSM_TRANS_TIMEOUT (TOP_DECISION, 1, bottle, TOP_BOTTLE_GOING, unload, TOP_UNLOAD_GOING) { + radar_def_upper_clamp_moving (1); if (FSM_CAN_HANDLE (AI, clamp_unblock)) { top_chaos_move (); @@ -311,6 +313,7 @@ FSM_TRANS_TIMEOUT (TOP_DECISION, 1, FSM_TRANS (TOP_CLAMP_ERROR_MOVING_DECISION, robot_move_success, TOP_CLAMP_ERROR_DECISION) { + radar_def_upper_clamp_moving (1); FSM_HANDLE (AI, clamp_unblock); return FSM_NEXT (TOP_CLAMP_ERROR_MOVING_DECISION, robot_move_success); } @@ -355,6 +358,7 @@ FSM_TRANS (TOP_CLAMP_ERROR_DECISION, upper_set_is_dead, TOP_DECISION) FSM_TRANS (TOP_TOTEM_GOING, move_success, TOP_TOTEM_CLEAN_STARTING) { + radar_def_upper_clamp_moving (0); clamp_request (FSM_EVENT (AI, clean_start)); return FSM_NEXT (TOP_TOTEM_GOING, move_success); } -- cgit v1.2.3