From 69d657a149edba0ff28085a85feafa0dad8067a7 Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Tue, 19 May 2009 01:32:38 +0200 Subject: * digital/io/src: - WIP --- digital/io/src/elevator_cb.c | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) (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 5ef5be28..0a3ea967 100644 --- a/digital/io/src/elevator_cb.c +++ b/digital/io/src/elevator_cb.c @@ -113,10 +113,16 @@ elevator__WAIT_A_PUCK__new_puck (void) elevator_is_ready = 0; elvt_new_puck = 0; // TODO time_ok - if(nb_puck_elvt < 4 && + if(nb_puck_elvt < 4) + { +/* && ((chrono_remaining_time() - OK_TIME_LIMIT > 0) || nb_puck_fb != 0)) + */ + asserv_move_elevator_absolute(posx[nb_puck_in_elvt], + ASSERV_ELVT_SPEED_DEFAULT); return elevator_next_branch (WAIT_A_PUCK, new_puck, ok_for_other_pucks); + } else return elevator_next_branch (WAIT_A_PUCK, new_puck, not_ok_for_other_pucks); } -- cgit v1.2.3