eb_lift: Do not move lift until pusher in fully initialized

diff --git a/src/eb_lift_09/lift.c b/src/eb_lift_09/lift.c
index 5ec768350ea85be06d2731999e9cf6ab4f2269a8..f2b3b096fc502592d7967570d43d548cf173f574 100644 (file)
--- a/src/eb_lift_09/lift.c
+++ b/src/eb_lift_09/lift.c
@@ -298,6 +298,7 @@ void fsm_homing_bw_zero(struct fsm *fsm, events my_event){
 }
 
 //~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+void fsm_wait_for_pusher_init(struct fsm *fsm, events my_event);
 void fsm_homing_fw_5(struct fsm *fsm, events my_event){
 
 
@@ -315,8 +316,8 @@ void fsm_homing_fw_5(struct fsm *fsm, events my_event){
                  
                        if((IO1PIN & (1<< fsm->switch_front)) || (fsm->act_pos >= (5*8)))
                        {
-                         fsm->set_engine(fsm->motor_dir, ENG_STOP);                      
-                         fsm->current_state = &fsm_stop;       // move to fsm_homing_bw
+                         fsm->set_engine(fsm->motor_dir, ENG_STOP);
+                         fsm->current_state = fsm_wait_for_pusher_init;
                          PRINT_STR_VAL(fsm->type,"FSM_HOMING_FW_5: EVENT_DO reached endswitch \n", *fsm->irc);
                          fsm_homing_block = FSM_PUSHER;                // release pusher
                        }