From 4c35fc806f02fb463408ba7067f04cf2793b2b2b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 17 May 2012 08:12:24 +0200 Subject: digital/io-hub/src/guybrush: change down clamp sooner --- digital/io-hub/src/guybrush/bottom_clamp.c | 17 +++-------------- 1 file changed, 3 insertions(+), 14 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 dd821bae..ff247bad 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -464,25 +464,22 @@ FSM_TRANS_TIMEOUT (CLAMP_TAKE_COIN, TIMEOUT_CLOSE_CLAMPS, CLAMP_TURN_HALF_WAY) { main_set_drop_coin_pos(ctx.pos_current + (HALF_TURN * 250) - POS_DELAY); move_needed(HALF_TURN * 250,FAST_ROTATION); + ctx.clamp_1_down = !ctx.clamp_1_down; return FSM_NEXT_TIMEOUT (CLAMP_TAKE_COIN); } FSM_TRANS (CLAMP_TURN_HALF_WAY, time_to_drop_coin, CLAMP_DROP_CD) { /*If the clamp 1 has the CD.*/ - if (ctx.clamp_1_down) + if (!ctx.clamp_1_down) { /*Open it.*/ IO_CLR (OUTPUT_LOWER_CLAMP_1_CLOSE); - /*Clamp 1 is now up (clamp 2 is down).*/ - ctx.clamp_1_down = 0; } /*If the clamp 2 is closed. */ else { IO_CLR (OUTPUT_LOWER_CLAMP_2_CLOSE); - /*Clamp 1 is now down (clamp 2 is up). */ - ctx.clamp_1_down = 1; } return FSM_NEXT (CLAMP_TURN_HALF_WAY,time_to_drop_coin); } @@ -699,6 +696,7 @@ FSM_TRANS (CLAMP_END_RECALE, lower_clamp_rotation_success,CLAMP_TURN_HALF_WAY) { main_set_drop_coin_pos(ctx.pos_current + (HALF_TURN * 250) - POS_DELAY); move_needed(HALF_TURN * 250,FAST_ROTATION); + ctx.clamp_1_down = !ctx.clamp_1_down; return FSM_NEXT (CLAMP_END_RECALE, lower_clamp_rotation_success); } /*---------------------------------------------------------------------------------*/ @@ -800,15 +798,6 @@ FSM_TRANS (CLAMP_WAIT,lower_clamp_rotation_failure, CLAMP_BLOCKED) FSM_TRANS_TIMEOUT (CLAMP_TURN_BACKWARD,TIMEOUT_BLOCKED, CLAMP_TURN_FORWARD) { move_needed(0,MEDIUM_ROTATION); - if (ctx.clamp_1_down) - { - /*Clamp 1 is now up (clamp 2 is down).*/ - ctx.clamp_1_down = 0; - } - else - { - ctx.clamp_1_down = 1; - } return FSM_NEXT_TIMEOUT (CLAMP_TURN_BACKWARD); } -- cgit v1.2.3