src/robofsm/strategy_odo_calibration.cc

   1 #include "common-states.h"
   2 #include "robot.h"
   3 #include <ul_log.h>
   4
   5
   6 UL_LOG_CUST(ulogd_strategy_odo_calibration); /* Log domain name = ulogd + name of the file */
   7
   8
   9 FSM_STATE(calibrate)
  10 {
  11         switch (FSM_EVENT) {
  12                 case EV_ENTRY:
  13                         FSM_TIMER(2000);
  14                         robot.odo_cal_a = 1;
  15                         robot.odo_cal_b = 1;
  16                         break;
  17                 case EV_TIMER:
  18                         SUBFSM_TRANSITION(go_back_for_cal,NULL);
  19                         break;
  20                 case EV_RETURN:
  21                         robot_calibrate_odometry();
  22                         //FSM_TRANSITION(get_central_buillon_first);
  23                         break;
  24                 case EV_SWITCH_STRATEGY:
  25                         //FSM_TRANSITION(get_central_buillon_first);
  26                         break;
  27                 default:;
  28         }
  29 }
  30