From c8cfe9c4b5498a6d993f224935f38869e782352b Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 3 Jun 2011 12:53:24 +0200 Subject: digital/io-hub: give the right element to element module --- digital/io-hub/src/robospierre/top.c | 12 +----------- 1 file changed, 1 insertion(+), 11 deletions(-) (limited to 'digital/io-hub/src/robospierre/top.c') diff --git a/digital/io-hub/src/robospierre/top.c b/digital/io-hub/src/robospierre/top.c index 52bb05ae..09de28f6 100644 --- a/digital/io-hub/src/robospierre/top.c +++ b/digital/io-hub/src/robospierre/top.c @@ -207,14 +207,6 @@ top_decision (void) return top_go_element (); } -static void -top_taken_pawn (void) -{ - position_t robot_pos; - asserv_get_position (&robot_pos); - element_taken (element_nearest_element_id (robot_pos), ELEMENT_PAWN); -} - FSM_TRANS (TOP_GOING_OUT2, robot_move_success, clamp_working, TOP_WAITING_CLAMP, drop, TOP_GOING_TO_DROP, @@ -281,7 +273,6 @@ FSM_TRANS (TOP_GOING_TO_DROP, move_failure, FSM_TRANS (TOP_GOING_TO_DROP, clamp_working, TOP_WAITING_CLAMP) { - top_taken_pawn (); move_stop (); return FSM_NEXT (TOP_GOING_TO_DROP, clamp_working); } @@ -291,7 +282,7 @@ FSM_TRANS (TOP_GOING_TO_ELEMENT, move_success, drop, TOP_GOING_TO_DROP, element, TOP_GOING_TO_ELEMENT) { - element_taken (ctx.target_element_id, ELEMENT_PAWN); + element_failure (ctx.target_element_id); /* Do not take this one again. */ if (clamp_working ()) return FSM_NEXT (TOP_GOING_TO_ELEMENT, move_success, clamp_working); switch (top_decision ()) @@ -318,7 +309,6 @@ FSM_TRANS (TOP_GOING_TO_ELEMENT, move_failure, FSM_TRANS (TOP_GOING_TO_ELEMENT, clamp_working, TOP_WAITING_CLAMP) { - top_taken_pawn (); move_stop (); return FSM_NEXT (TOP_GOING_TO_ELEMENT, clamp_working); } -- cgit v1.2.3