From 78204f6bcba74ab5c5505ac06c3384e193177718 Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Fri, 15 May 2009 00:36:58 +0200 Subject: * digital/io/src: - work on elevator fsm --- digital/io/src/elevator_cb.c | 9 ++++----- 1 file changed, 4 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 f1184cc8..d20496dc 100644 --- a/digital/io/src/elevator_cb.c +++ b/digital/io/src/elevator_cb.c @@ -32,16 +32,13 @@ #include "filterbridge.h" /* Positions when waiting a puck*/ -uint16_t posx[4] = {0,0,0,0}; +uint16_t posx[4] = {0,25,55,85}; /* Positions when we go to a target zone */ -uint16_t posy[3] = {0,0,0}; +uint16_t posy[3] = {125,95,65}; /* nb puck on the elevator */ uint8_t nb_puck_elvt = 0; -/* ready flag */ -uint8_t elevator_is_ready = 0; - /* increase/decrease of pos y */ #define MAJ_POSY 100 #define MIN_POSY 50 @@ -113,6 +110,7 @@ elevator__WAIT_A_PUCK__new_puck (void) { elevator_is_ready = 0; ++nb_puck_in_elvt; + elvt_new_puck = 0; // TODO time_ok if(nb_puck_elvt < 4 && ((chrono_remaining_time() - OK_TIME_LIMIT > 0) @@ -123,6 +121,7 @@ elevator__WAIT_A_PUCK__new_puck (void) } /* + * TODO time_up * WAIT_A_PUCK =time_up=> * => WAIT_POS_ORDER * no more time to wait a new puck -- cgit v1.2.3