From 95b8a243664c2d79cb1a5f9576d5ebb52a1764ea Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 19 May 2012 06:41:40 +0200 Subject: digital/io-hub/src/guybrush: prepare strategy in advance --- digital/io-hub/src/guybrush/top.c | 3 +++ 1 file changed, 3 insertions(+) (limited to 'digital/io-hub/src') diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c index 6655afd9..28b6e107 100644 --- a/digital/io-hub/src/guybrush/top.c +++ b/digital/io-hub/src/guybrush/top.c @@ -437,6 +437,7 @@ FSM_TRANS (TOP_TOTEM_EMPTYING, clamps_ready, TOP_TOTEM_GOING_BACK) { strat_success (); move_start_noangle (top.decision_pos, ASSERV_BACKWARD, 0); + strat_prepare (); return FSM_NEXT (TOP_TOTEM_EMPTYING, clamps_ready); } @@ -595,6 +596,7 @@ FSM_TRANS (TOP_BOTTLE_PUSHING, robot_move_success, TOP_BOTTLE_GOING_BACK) asserv_stop_motor (); strat_success (); move_start_noangle (top.decision_pos, 0, 0); + strat_prepare (); return FSM_NEXT (TOP_BOTTLE_PUSHING, robot_move_success); } @@ -604,6 +606,7 @@ FSM_TRANS (TOP_BOTTLE_PUSHING, robot_move_failure, TOP_BOTTLE_GOING_BACK) asserv_stop_motor (); strat_success (); move_start_noangle (top.decision_pos, 0, 0); + strat_prepare (); return FSM_NEXT (TOP_BOTTLE_PUSHING, robot_move_failure); } -- cgit v1.2.3