From 8522ab22baa8f0a93914398d97800c62d557cd20 Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Sat, 16 May 2009 20:00:40 +0200 Subject: * digital/io/src: - fixes to elevator and filterbridge FSM --- digital/io/src/main.c | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) (limited to 'digital/io/src/main.c') diff --git a/digital/io/src/main.c b/digital/io/src/main.c index 76bc66b9..feab6629 100644 --- a/digital/io/src/main.c +++ b/digital/io/src/main.c @@ -303,7 +303,7 @@ main_loop (void) FSM_HANDLE_EVENT (&elevator_fsm, ELEVATOR_EVENT_doors_opened); /* bridge ready */ - if(nb_puck_fb) + if(nb_puck_fb < 2) FSM_HANDLE_EVENT (&cylinder_fsm, CYLINDER_EVENT_bridge_ready); /* bot empty */ @@ -328,6 +328,8 @@ main_loop (void) ELEVATOR_EVENT_jack_inserted_into_bot); FSM_HANDLE_EVENT (&cylinder_fsm, CYLINDER_EVENT_jack_inserted_into_bot); + FSM_HANDLE_EVENT (&filterbridge_fsm, + FILTERBRIDGE_EVENT_jack_inserted_into_bot); } /* Settings acknowledge */ /* @@ -436,7 +438,13 @@ main_loop (void) FILTERBRIDGE_EVENT_no_puck_on_pos2); } /* test cylinder sensor */ - /* if(!IO_GET (CON */ + /* TODO check if we need !IO_GET or IO_GET */ + if(!IO_GET(CONTACT_PUCK_CYLINDER)) + { + FSM_HANDLE_EVENT (&cylinder_fsm, + CYLINDER_EVENT_new_puck); + } + /* FIXME to be delete */ if(cylinder_puck1_emulation) { FSM_HANDLE_EVENT (&cylinder_fsm, -- cgit v1.2.3