From 056a2a33b6e96445415e796b7dc845210140ec37 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 May 2012 01:50:12 +0200 Subject: digital/io-hub/src/guybrush: change unblock event --- digital/io-hub/src/guybrush/bottom_clamp.c | 6 ++++-- digital/io-hub/src/guybrush/main.c | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) (limited to 'digital/io-hub/src/guybrush') diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index 1cff2440..737b0b11 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -160,6 +160,8 @@ FSM_EVENTS ( robot_is_back, /* The clamp is blocked. We can try to unblock it*/ clamp_blocked, + /* Try to unblock clamp. */ + clamp_unblock, /* We tryed to unblock the clamp too many time. we can now say that the bottom clamp is out of order*/ clamp_is_dead ) @@ -764,10 +766,10 @@ FSM_TRANS_TIMEOUT (CLAMP_BLOCKED,TIMEOUT_OPEN_CLAMPS,CLAMP_OPEN_BOTTOM_CLAMPS) return FSM_NEXT_TIMEOUT (CLAMP_BLOCKED); } -FSM_TRANS (CLAMP_OPEN_BOTTOM_CLAMPS,robot_is_back, CLAMP_WAIT) +FSM_TRANS (CLAMP_OPEN_BOTTOM_CLAMPS, clamp_unblock, CLAMP_WAIT) { mimot_move_motor0_absolute (mimot_get_motor0_position() - 16 * 250, MEDIUM_ROTATION); - return FSM_NEXT (CLAMP_OPEN_BOTTOM_CLAMPS, robot_is_back); + return FSM_NEXT (CLAMP_OPEN_BOTTOM_CLAMPS, clamp_unblock); } FSM_TRANS (CLAMP_OPEN_BOTTOM_CLAMPS,clamp_is_dead, CLAMP_SHITTY_STATE) diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c index 68892e3b..85b53d2e 100644 --- a/digital/io-hub/src/guybrush/main.c +++ b/digital/io-hub/src/guybrush/main.c @@ -198,7 +198,7 @@ main_demo_events (void) { nb_robots_switch_last = IO_GET (CONTACT_NB_ROBOTS); sleep = 125; - return FSM_HANDLE (AI, robot_is_back); + return FSM_HANDLE (AI, clamp_unblock); } return 0; } -- cgit v1.2.3