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/bottom_clamp.c | 6 ------ digital/io-hub/src/guybrush/top.c | 4 ++++ 2 files changed, 4 insertions(+), 6 deletions(-) (limited to 'digital/io-hub/src') diff --git a/digital/io-hub/src/guybrush/bottom_clamp.c b/digital/io-hub/src/guybrush/bottom_clamp.c index 9d3d156b..12313d24 100644 --- a/digital/io-hub/src/guybrush/bottom_clamp.c +++ b/digital/io-hub/src/guybrush/bottom_clamp.c @@ -32,7 +32,6 @@ #include "bottom_clamp.h" #include "pressure.h" #include "strat.h" -#include "radar_defs.h" #define FSM_NAME AI @@ -586,7 +585,6 @@ FSM_TRANS (CLAMP_IDLE, tree_detected,CLAMP_BOTTOM_CLAMP_HIDE_POS) FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS, lower_clamp_rotation_success, CLAMP_UNFOLD_UPPER_SET) { - radar_def_upper_clamp_moving (1); IO_CLR (OUTPUT_UPPER_CLAMP_UP); IO_SET (OUTPUT_UPPER_CLAMP_DOWN); return FSM_NEXT (CLAMP_BOTTOM_CLAMP_HIDE_POS, lower_clamp_rotation_success); @@ -602,7 +600,6 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS, lower_clamp_rotation_failure, CLAMP_BLOC FSM_TRANS (CLAMP_UNFOLD_UPPER_SET, upper_set_down, CLAMP_BOTTOM_CLAMP_READY) { - radar_def_upper_clamp_moving (0); /*Putting the bottom clamp back to ready.*/ move_needed2(DECALAGE_CD_BAS,FAST_ROTATION,-1); @@ -691,7 +688,6 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_HIDE_POS2, lower_clamp_rotation_failure, CLAMP_BLO FSM_TRANS_TIMEOUT (CLAMP_RELEASE_ASSERV, TIMEOUT_FREE_ASSERV, CLAMP_FOLD_UPPER_SET) { - radar_def_upper_clamp_moving (1); IO_CLR (OUTPUT_UPPER_CLAMP_DOWN); IO_SET (OUTPUT_UPPER_CLAMP_UP); return FSM_NEXT_TIMEOUT (CLAMP_RELEASE_ASSERV); @@ -699,7 +695,6 @@ FSM_TRANS_TIMEOUT (CLAMP_RELEASE_ASSERV, TIMEOUT_FREE_ASSERV, CLAMP_FOLD_UPPER_S } FSM_TRANS (CLAMP_FOLD_UPPER_SET, upper_set_up, CLAMP_OPEN_UPPER_CLAMPS) { - radar_def_upper_clamp_moving (0); IO_SET (OUTPUT_UPPER_CLAMP_OPEN); IO_CLR (OUTPUT_UPPER_CLAMP_IN); IO_SET (OUTPUT_UPPER_CLAMP_OUT); @@ -798,7 +793,6 @@ FSM_TRANS (CLAMP_BOTTOM_CLAMP_BACK,lower_clamp_rotation_failure,CLAMP_BLOCKED) FSM_TRANS (CLAMP_UNFOLD_UPPER_SET, stop_tree_approach,CLAMP_RELEASE_ASSERV) { - radar_def_upper_clamp_moving (0); ctx.stop_tree_approach = 1; return FSM_NEXT (CLAMP_UNFOLD_UPPER_SET, stop_tree_approach); 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