From 4af6e816f0ca13d7ee85ce5892520e493782e33c Mon Sep 17 00:00:00 2001 From: Jerome Jutteau Date: Tue, 5 Mar 2013 19:48:54 +0100 Subject: digital/io/src: update FSM --- digital/io/src/hola.c | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) (limited to 'digital/io/src/hola.c') diff --git a/digital/io/src/hola.c b/digital/io/src/hola.c index af663c4a..a53980a1 100644 --- a/digital/io/src/hola.c +++ b/digital/io/src/hola.c @@ -60,22 +60,18 @@ FSM_START_WITH (HOLA_IDLE) FSM_TRANS (HOLA_IDLE, start, HOLA_WAIT_HOLA) { - return FSM_NEXT (HOLA_IDLE, start); } FSM_TRANS (HOLA_WAIT_HOLA, hola_start, HOLA_WAIT_JACK_IN) { - return FSM_NEXT (HOLA_WAIT_HOLA, hola_start); } FSM_TRANS (HOLA_WAIT_JACK_IN, jack_inserted_into_bot, HOLA_WAIT_JACK_OUT) { - return FSM_NEXT (HOLA_WAIT_JACK_IN, jack_inserted_into_bot); } FSM_TRANS (HOLA_WAIT_JACK_OUT, jack_removed_from_bot, HOLA_ROUNDS) { - return FSM_NEXT (HOLA_WAIT_JACK_OUT, jack_removed_from_bot); } FSM_TRANS (HOLA_ROUNDS, asserv_last_cmd_ack, @@ -96,14 +92,14 @@ FSM_TRANS (HOLA_ROUNDS, asserv_last_cmd_ack, mimot_move_motor1_absolute (dx, BOT_CLAMP_SPEED); asserv_move_motor0_absolute (dy, BOT_ELEVATOR_SPEED); hola_angle += 0x1000000 / (225 / 12); - return FSM_NEXT (HOLA_ROUNDS, asserv_last_cmd_ack, no_timeout); + return FSM_BRANCH (no_timeout); } else { asserv_set_speed (0x10, 0x1c, 0x10, 0x1c); asserv_move_motor0_absolute (BOT_ELEVATOR_REST_STEP, BOT_ELEVATOR_SPEED / 3); asserv_move_angularly (POSITION_A_DEG (174)); - return FSM_NEXT (HOLA_ROUNDS, asserv_last_cmd_ack, timeout); + return FSM_BRANCH (timeout); } } @@ -112,21 +108,18 @@ FSM_TRANS (HOLA_UP, bot_move_succeed, HOLA_CENTER) asserv_set_speed (0x10, 0x20, 0x10, 0x20); asserv_move_angularly (POSITION_A_DEG (-90)); asserv_move_motor0_absolute (BOT_ELEVATOR_REST_STEP / 2, BOT_ELEVATOR_SPEED); - return FSM_NEXT (HOLA_UP, bot_move_succeed); } FSM_TRANS (HOLA_CENTER, bot_move_succeed, HOLA_CLAP_CLOSE) { mimot_motor0_clamp (BOT_CLAMP_ZERO_SPEED, 0); mimot_motor1_clamp (BOT_CLAMP_ZERO_SPEED, 0); - return FSM_NEXT (HOLA_CENTER, bot_move_succeed); } FSM_TRANS (HOLA_CLAP_CLOSE, clamp_succeed, HOLA_CLAP_OPEN) { mimot_move_motor0_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); mimot_move_motor1_absolute (BOT_CLAMP_OPEN_STEP, BOT_CLAMP_SPEED); - return FSM_NEXT (HOLA_CLAP_CLOSE, clamp_succeed); } /* @@ -136,5 +129,4 @@ FSM_TRANS (HOLA_CLAP_OPEN, clamp_succeed, HOLA_CLAP_CLOSE) { mimot_motor0_clamp (BOT_CLAMP_SPEED, 0); mimot_motor1_clamp (BOT_CLAMP_SPEED, 0); - return FSM_NEXT (HOLA_CLAP_OPEN, clamp_succeed); } -- cgit v1.2.3