robofsm: Competition state machine with 2 strategies

[eurobot/public.git] / src / robofsm / common-states.h

diff --git a/src/robofsm/common-states.h b/src/robofsm/common-states.h
index 466c16c7af9b329ed4fcc177bdc62cc5baab0867..b8ae1acaf08fea7ca844b9b2b4e9adbbd460ced5 100644 (file)
--- a/src/robofsm/common-states.h
+++ b/src/robofsm/common-states.h
@@ -1,35 +1,30 @@
 #ifndef COMMON_STATES_H
 #define COMMON_STATES_H
 
-#define FSM_MAIN
-
-#include "roboevent.h"
-#include <fsm.h>
-
 extern struct TrajectoryConstraints tcFast, tcVeryFast, tcSlow, tcVerySlow;
 extern double totem_x, totem_y;
 extern bool up;
 /* strategy FSM */
-FSM_STATE_DECL(central_buillon_wait_for_start);
+/*FSM_STATE_DECL(central_buillon_wait_for_start);
 FSM_STATE_DECL(homologation_wait_for_start);
 FSM_STATE_DECL(calibrate);
-
+*/
 /* Strategy catch buillon in center */
-FSM_STATE_DECL(approach_central_buillon);
+/*FSM_STATE_DECL(approach_central_buillon);
 FSM_STATE_DECL(catch_central_buillon);
 FSM_STATE_DECL(leave_central_buillon);
 FSM_STATE_DECL(push_bottle_bw);
 FSM_STATE_DECL(return_home);
-
+*/
 /* Ignore central buillon */
 //FSM_STATE_DECL(push_nearest_buillon);
 //FSM_STATE_DECL(push_bottle_fw);
 
 /* Autocalibration */
-FSM_STATE_DECL(go_back_for_cal);
+/*FSM_STATE_DECL(go_back_for_cal);
 
 /* Common states */
-FSM_STATE_DECL(leave_home);
+/*FSM_STATE_DECL(leave_home);
 FSM_STATE_DECL(leave_home_for_totem);
 FSM_STATE_DECL(approach_totem_down);
 FSM_STATE_DECL(catch_totem_buillon_down);
@@ -38,7 +33,7 @@ FSM_STATE_DECL(place_buillon_home);
 FSM_STATE_DECL(approach_totem_up);
 FSM_STATE_DECL(catch_totem_buillon_up);
 FSM_STATE_DECL(leave_totem_up);
-
+*/
 /*FSM_STATE_DECL(place_down_buillon);
 FSM_STATE_DECL(approach_totem_up);
 FSM_STATE_DECL(catch_up_totem_buillon);
@@ -49,20 +44,20 @@ FSM_STATE_DECL(push_second_bottle);
 */
 /* HOMOLOGATION states */
 /* movement states - buillon */
-FSM_STATE_DECL(homologation_approach_buillon);
+//FSM_STATE_DECL(homologation_approach_buillon);
 /* Pushing the bottle */
-FSM_STATE_DECL(homologation_push_bottle);
+/*FSM_STATE_DECL(homologation_push_bottle);
 FSM_STATE_DECL(push_second_bottle_fw);
 FSM_STATE_DECL(go_back_from_home);
+*/
 
-
-void start_entry();
+/*void start_entry();
 void start_timer();
-void start_go();
+void start_go();*/
 void start_exit();
-bool read_sharp();
-
-void robot_calibrate_odometry();
+/*bool read_sharp();
+*/
+//void robot_calibrate_odometry();