robofsm: purged deprecated actuators

diff --git a/src/robofsm/fsmdisplay.c b/src/robofsm/fsmdisplay.c
index 3ecf206f0f8ca575aa173137e179c41bda5c4cba..36f4597e0a69807df76609d43ed6d09d367a388b 100644 (file)
--- a/src/robofsm/fsmdisplay.c
+++ b/src/robofsm/fsmdisplay.c
@@ -71,17 +71,6 @@ int set_actuators(uint8_t actuator)
                                brushes_out();
                        }
                        break;
-               case DEPOSITE_BALLS:
-                       FSM_SIGNAL(MAIN, EV_DEPOSITE_BALLS, NULL);
-                       break;
-               case BRUSH_DRIVES:
-                       if(robot.orte.drives.brush_left==LEFT_BRUSH_DRIVE_ON) {
-                               brushes_drives_out();
-                       }
-                       else {
-                               brushes_drives_in();
-                       }
-                       break;
                case LASER:
                        if (robot.orte.laser_cmd.speed == LASER_DRIVE_ON) {
                                off_laser();

diff --git a/src/robofsm/servos.c b/src/robofsm/servos.c
index 97d486ddaa6e102d4852757b26c5c6f378683057..9701cbf18fd764125669ff38eb6c4ec3e82403a9 100644 (file)
--- a/src/robofsm/servos.c
+++ b/src/robofsm/servos.c
@@ -65,18 +65,6 @@ void off_brush_right()
        robot.orte.drives.brush_right = RIGHT_BRUSH_DRIVE_OFF;
 }
 
-void brushes_drives_in()
-{
-       robot.orte.drives.brush_left = LEFT_BRUSH_DRIVE_IN;
-       robot.orte.drives.brush_right = RIGHT_BRUSH_DRIVE_IN;
-}
-
-void brushes_drives_out()
-{
-       robot.orte.drives.brush_left = LEFT_BRUSH_DRIVE_OUT;
-       robot.orte.drives.brush_right = RIGHT_BRUSH_DRIVE_OUT;
-}
-
 void on_laser()
 {
        robot.orte.laser_cmd.speed = LASER_DRIVE_ON;

diff --git a/src/robofsm/servos.h b/src/robofsm/servos.h
index 10f0e7a5aa3a581b7fa89a414bcdf87e5f7cf405..fe18094cf7e1c130cdc9e1855695142f90d2ee4a 100644 (file)
--- a/src/robofsm/servos.h
+++ b/src/robofsm/servos.h
@@ -12,31 +12,17 @@
 #define SERVOS_EB2008_H
 
 /* SERVOS */
-#define TOP_DOOR_OPEN 127
-#define TOP_DOOR_CLOSE 127
-#define BOTTOM_DOOR_OPEN 5
-#define BOTTOM_DOOR_CLOSE 208
-#define BACK_DOOR_OPEN 255
-#define BACK_DOOR_CLOSE 0
 
-#define BRUSH_LEFT_CLOSE 0
-#define BRUSH_RIGHT_CLOSE 150
-#define BRUSH_LEFT_OPEN 150
-#define BRUSH_RIGHT_OPEN 0
+#define BRUSH_LEFT_CLOSE 127   //FIXME
+#define BRUSH_RIGHT_CLOSE 127  //FIXME
+#define BRUSH_LEFT_OPEN 127    //FIXME
+#define BRUSH_RIGHT_OPEN 127   //FIXME
 
 /* DRIVES */
-#define LEFT_BRUSH_DRIVE_ON 150
-#define LEFT_BRUSH_DRIVE_OFF 100
-#define RIGHT_BRUSH_DRIVE_ON 150
-#define RIGHT_BRUSH_DRIVE_OFF 100
-
-#define LEFT_BRUSH_DRIVE_IN 130
-#define RIGHT_BRUSH_DRIVE_IN 70
-#define LEFT_BRUSH_DRIVE_OUT 50
-#define RIGHT_BRUSH_DRIVE_OUT 150
-
-#define BAGR_DRIVE_ON 150
-#define BAGR_DRIVE_OFF 100
+#define LEFT_BRUSH_DRIVE_ON 80         //FIXME
+#define LEFT_BRUSH_DRIVE_OFF 0
+#define RIGHT_BRUSH_DRIVE_ON 80 //FIXME
+#define RIGHT_BRUSH_DRIVE_OFF 0
 
 #define LASER_DRIVE_ON 1
 #define LASER_DRIVE_OFF 0
@@ -55,12 +41,6 @@ void on_brush_right();
 void off_brush_right();
 void brushes_in();
 void brushes_out();
-void brushes_drives_in();
-void brushes_drives_out();
-void on_bagr();
-void off_bagr();
-void set_bagr(unsigned char speed);
-void set_carousel(unsigned char position);
 void on_laser();
 void off_laser();
 void set_laser(unsigned char speed);

diff --git a/src/robofsm/test/homologation.cc b/src/robofsm/test/homologation.cc
index 7a04b75b432db65032e9a91b963729c2ba6a0123..1cdadf230e5e3c9fe49c5c6914652ec96ef044e5 100644 (file)
--- a/src/robofsm/test/homologation.cc
+++ b/src/robofsm/test/homologation.cc
@@ -434,7 +434,6 @@ FSM_STATE(get_balls)
                case EV_ENTRY:
                case EV_RETURN:
                        brushes_in();
-                       brushes_drives_in();
                        FSM_TIMER(500);
                        break;
                case EV_TIMER: