From 690bde47d716476fde982087dadfe794f7fdb14e Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Tue, 19 May 2009 01:32:32 +0200 Subject: * digital/io/src: - elevator fsm fixes --- digital/io/src/elevator_cb.c | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) (limited to 'digital/io/src/elevator_cb.c') diff --git a/digital/io/src/elevator_cb.c b/digital/io/src/elevator_cb.c index c1d7b926..5ef5be28 100644 --- a/digital/io/src/elevator_cb.c +++ b/digital/io/src/elevator_cb.c @@ -61,27 +61,29 @@ elevator__IDLE__start (void) /* * WAIT_JACK_IN =jack_inserted_into_bot=> * => INIT - * make initializations + * make initializations (elevator zero and open doors) */ fsm_branch_t elevator__WAIT_JACK_IN__jack_inserted_into_bot (void) { + pwm_set(OPEN_DOOR_PWM, TIME_DOORS_PWM); asserv_elevator_zero_position(); return elevator_next (WAIT_JACK_IN, jack_inserted_into_bot); } /* - * INIT =init_done=> + * INIT =doors_opened=> * => GO_TO_POS_X - * match begin, we're going to be ready to get a new puck + * make initializations (close doors) */ fsm_branch_t -elevator__INIT__init_done (void) +elevator__INIT__doors_opened (void) { elevator_is_ready = 0; + pwm_set(CLOSE_DOOR_PWM, TIME_DOORS_PWM); asserv_move_elevator_absolute(posx[nb_puck_in_elvt], ASSERV_ELVT_SPEED_DEFAULT); - return elevator_next (INIT, init_done); + return elevator_next (INIT, doors_opened); } /* -- cgit v1.2.3