src/robofsm/common-states.h

   1 #ifndef COMMON_STATES_H
   2 #define COMMON_STATES_H
   3
   4 #define FSM_MAIN
   5
   6 #include "roboevent.h"
   7 #include <fsm.h>
   8
   9 extern struct TrajectoryConstraints tcFast, tcVeryFast, tcSlow, tcVerySlow;
  10
  11 /* strategy FSM */
  12 FSM_STATE_DECL(get_central_buillon_first);
  13 FSM_STATE_DECL(ignore_central_buillon);
  14 //FSM_STATE_DECL(calibrate);
  15
  16 /* Strategy catch buillon in center */
  17 FSM_STATE_DECL(approach_central_buillon);
  18 FSM_STATE_DECL(catch_central_buillon);
  19 FSM_STATE_DECL(leave_central_buillon);
  20 FSM_STATE_DECL(push_bottle_bw);
  21 FSM_STATE_DECL(return_home);
  22 FSM_STATE_DECL(leave_home);
  23
  24 /* Ignore central buillon */
  25 //FSM_STATE_DECL(push_nearest_buillon);
  26 //FSM_STATE_DECL(push_bottle_fw);
  27
  28 /* Common states */
  29 /*FSM_STATE_DECL(approach_totem_down);
  30 FSM_STATE_DECL(catch_down_totem_buillon);
  31 FSM_STATE_DECL(leave_totem_down);
  32 FSM_STATE_DECL(place_down_buillon);
  33 FSM_STATE_DECL(approach_totem_up);
  34 FSM_STATE_DECL(catch_up_totem_buillon);
  35 FSM_STATE_DECL(leave_totem_up);
  36 FSM_STATE_DECL(place_up_buillon);
  37
  38 FSM_STATE_DECL(push_second_bottle);
  39 */
  40 void start_entry();
  41 void start_timer();
  42 void start_go();
  43 void start_exit();
  44 bool read_sharp();
  45
  46
  47
  48 #endif