From bb1fe5ee8a4aaf4583380789fd92382f08440e8c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 18 May 2012 08:09:38 +0200 Subject: digital/io-hub/src/guybrush: do not wait when unloading --- digital/io-hub/src/guybrush/top.c | 13 +++---------- 1 file changed, 3 insertions(+), 10 deletions(-) (limited to 'digital') diff --git a/digital/io-hub/src/guybrush/top.c b/digital/io-hub/src/guybrush/top.c index eea74cde..19891fa9 100644 --- a/digital/io-hub/src/guybrush/top.c +++ b/digital/io-hub/src/guybrush/top.c @@ -106,9 +106,7 @@ FSM_STATES ( TOP_BOTTLE_GOING_BACK, /* Going to an unload position. */ - TOP_UNLOAD_GOING, - /* Unloading, waiting for elements to fall. */ - TOP_UNLOADING) + TOP_UNLOAD_GOING) FSM_START_WITH (TOP_START) @@ -593,18 +591,13 @@ FSM_TRANS (TOP_BOTTLE_APPROACHING, robot_move_failure, /** UNLOAD */ -FSM_TRANS (TOP_UNLOAD_GOING, move_success, TOP_UNLOADING) +FSM_TRANS (TOP_UNLOAD_GOING, move_success, TOP_DECISION) { IO_SET (OUTPUT_DOOR_OPEN); IO_CLR (OUTPUT_DOOR_CLOSE); - return FSM_NEXT (TOP_UNLOAD_GOING, move_success); -} - -FSM_TRANS_TIMEOUT (TOP_UNLOADING, 250, TOP_DECISION) -{ strat_success (); top.close_door = 1; - return FSM_NEXT_TIMEOUT (TOP_UNLOADING); + return FSM_NEXT (TOP_UNLOAD_GOING, move_success); } /** UNLOAD failures. */ -- cgit v1.2.3