From 8350707ab8e1cbea3a83ddc82bbdc814210b0e66 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 31 May 2011 22:36:08 +0200 Subject: digital/io-hub: change initial position --- digital/io-hub/src/robospierre/clamp.c | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'digital/io-hub/src/robospierre/clamp.c') diff --git a/digital/io-hub/src/robospierre/clamp.c b/digital/io-hub/src/robospierre/clamp.c index 0a7654f3..a9a1680b 100644 --- a/digital/io-hub/src/robospierre/clamp.c +++ b/digital/io-hub/src/robospierre/clamp.c @@ -360,14 +360,16 @@ clamp_route (void) } else if (pos_current == CLAMP_BAY_FRONT_LEAVING) { - if (pos_request == CLAMP_SLOT_SIDE) + if (pos_request == CLAMP_SLOT_SIDE + || pos_request == CLAMP_BAY_SIDE_ENTER_LEAVE) pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE; else pos_new = CLAMP_SLOT_BACK_MIDDLE; } else if (pos_current == CLAMP_BAY_BACK_LEAVING) { - if (pos_request == CLAMP_SLOT_SIDE) + if (pos_request == CLAMP_SLOT_SIDE + || pos_request == CLAMP_BAY_SIDE_ENTER_LEAVE) pos_new = CLAMP_BAY_SIDE_ENTER_LEAVE; else pos_new = CLAMP_SLOT_FRONT_MIDDLE; @@ -434,7 +436,7 @@ FSM_TRANS (CLAMP_INIT_FINDING_ROTATION_EDGE, clamp_rotation_success, FSM_TRANS (CLAMP_INIT_FINDING_TOP, clamp_elevation_success, CLAMP_GOING_IDLE) { - clamp_move (CLAMP_SLOT_SIDE); + clamp_move (CLAMP_BAY_SIDE_ENTER_LEAVE); return FSM_NEXT (CLAMP_INIT_FINDING_TOP, clamp_elevation_success); } -- cgit v1.2.3