From 3a54854defda7b59411b691e0fc0f074edb6e88e Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Thu, 17 Apr 2008 23:34:13 +0200 Subject: Update the gutter FSM to only eject the balls from the robot. --- digital/io/src/test/gutter/main.c | 49 +++++---------------------------------- 1 file changed, 6 insertions(+), 43 deletions(-) (limited to 'digital/io/src/test') diff --git a/digital/io/src/test/gutter/main.c b/digital/io/src/test/gutter/main.c index 37eefbda..877545fc 100644 --- a/digital/io/src/test/gutter/main.c +++ b/digital/io/src/test/gutter/main.c @@ -34,15 +34,12 @@ gutter_print_test (fsm_t *gutter) switch (gutter->state_current) { - case GUTTER_STATE_END: - printf ("END"); + case GUTTER_STATE_IDLE: + printf ("IDLE"); break; case GUTTER_STATE_CLOSE_COLLECTOR: printf ("CLOSE COLLECTOR"); break; - case GUTTER_STATE_GO_TO_GUTTER: - printf ("GO_TO_GUTTER"); - break; case GUTTER_STATE_OPEN_COLLECTOR: printf ("OPEN COLLECTOR"); break; @@ -57,61 +54,27 @@ main (void) { fsm_init (&gutter_fsm); - fsm_handle_event (&gutter_fsm, GUTTER_EVENT_ok); - - gutter_print_test (&gutter_fsm); - - fsm_handle_event (&gutter_fsm, GUTTER_EVENT_position_failed); - - gutter_print_test (&gutter_fsm); - - fsm_handle_event (&gutter_fsm, GUTTER_EVENT_position_reached); - + fsm_handle_event (&gutter_fsm, GUTTER_EVENT_start); gutter_print_test (&gutter_fsm); fsm_handle_event (&gutter_fsm, GUTTER_EVENT_collector_opened); - gutter_print_test (&gutter_fsm); - + fsm_handle_event (&gutter_fsm, GUTTER_EVENT_collector_closed); - gutter_print_test (&gutter_fsm); return 0; } -void -asserv_set_x_position (uint32_t position) -{ - printf ("X position : %d\n", position); -} - -void -asserv_move_arm (uint16_t position, uint8_t speed) -{ - printf ("Move arm, position : %d, speed : %d\n", position, speed); -} - -void -asserv_set_y_position (int32_t y) -{ - printf ("Y position : %d\n", y); -} - void trap_open_rear_panel (void) { - printf ("Open rear panel\n"); + printf ("\t Open rear panel\n"); } void trap_close_rear_panel(void) { - printf ("Close rear panel\n"); + printf ("\t Close rear panel\n"); } -void -asserv_go_to_the_wall (void) -{ - printf ("Go to gutter\n"); -} -- cgit v1.2.3