From df86960a8825149382e162e04ef37667f0ebdd37 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 18 May 2009 13:03:52 +0200 Subject: * digital/io/src: - add event for the last command sent to the asserv board has been acquited, - make init FSM finish by returning to IDLE state (and not moving and moving again), - when in position, do a last turn, to face in the right position. --- digital/io/src/init_cb.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'digital/io/src/init_cb.c') diff --git a/digital/io/src/init_cb.c b/digital/io/src/init_cb.c index ff9f00c8..1f681d47 100644 --- a/digital/io/src/init_cb.c +++ b/digital/io/src/init_cb.c @@ -131,15 +131,15 @@ init__GO_BACKWARD_AGAIN__move_done (void) } /* - * SET_POSITION =move_done=> - * => TURN_90_DEGREES_CCW + * SET_POSITION =asserv_last_cmd_ack=> + * => IDLE * turn bot for 180 degrees counterclockwise */ fsm_branch_t -init__SET_POSITION__move_done (void) +init__SET_POSITION__asserv_last_cmd_ack (void) { asserv_goto_angle (PG_A_VALUE_COMPUTING (0 * BOT_ANGLE_DEGREE)); - return init_next (SET_POSITION, move_done); + return init_next (SET_POSITION, asserv_last_cmd_ack); } -- cgit v1.2.3