robofsm: Homologation 2012

Removed timers and trajectory simplification.

diff --git a/src/robofsm/homologation2012.cc b/src/robofsm/homologation2012.cc
index 885b9157454903cf18be35cd12f7c1382265fe56..1a15c0b6472f47eb0e2cb7b66f3ee04bde118038 100644 (file)
--- a/src/robofsm/homologation2012.cc
+++ b/src/robofsm/homologation2012.cc
@@ -41,7 +41,7 @@ FSM_STATE_DECL(init);
 FSM_STATE_DECL(wait_for_start);
 /* movement states - buillon */
 FSM_STATE_DECL(aproach_buillon);
-FSM_STATE_DECL(load_buillon);
+//FSM_STATE_DECL(load_buillon);
 FSM_STATE_DECL(place_buillon);
 FSM_STATE_DECL(leave_buillon);
 /* Pushing the bottle */
@@ -73,7 +73,7 @@ robot_set_est_pos_trans(ROBOT_AXIS_TO_BACK_M,
 
 void actuators_home()
 {
-       act_jaws(CLOSE);
+       //act_jaws(CLOSE);
        // drive lift to home position
        //act_lift(0, 0, 1);
        // unset the homing request
@@ -145,18 +145,15 @@ FSM_STATE(aproach_buillon)
                                TURN_CW(DEG2RAD(180)));
                        break;
                case EV_MOTION_DONE:
-                       FSM_TIMER(2000);
-                       act_jaws(OPEN);
-                       break;
                case EV_TIMER:
-                       FSM_TRANSITION(load_buillon);
+                       FSM_TRANSITION(place_buillon);
                        break;
                default:
                        break;
        }
 }
 
-FSM_STATE(load_buillon)
+/*FSM_STATE(load_buillon)
 {
        switch(FSM_EVENT) {
                case EV_ENTRY:
@@ -176,7 +173,7 @@ FSM_STATE(load_buillon)
                default:
                        break;
        }
-}
+}*/
 
 FSM_STATE(place_buillon)
 {
@@ -189,9 +186,6 @@ FSM_STATE(place_buillon)
                                NO_TURN());
                        break;
                case EV_MOTION_DONE:
-                       FSM_TIMER(2000);
-                       act_jaws(OPEN);
-                       break;
                case EV_TIMER:
                        FSM_TRANSITION(leave_buillon);
                        break;
@@ -211,9 +205,6 @@ FSM_STATE(leave_buillon)
                                NO_TURN());
                        break;
                case EV_MOTION_DONE:
-                       FSM_TIMER(2000);
-                       act_jaws(CLOSE);
-                       break;
                case EV_TIMER:
                        FSM_TRANSITION(push_bottle);
                        break;