robofsm: obsolete doxygen doc deleted; fsmmain.c: ACT FSM initial state added

diff --git a/src/robofsm/fsmmain.c b/src/robofsm/fsmmain.c
index 8fca55de86cfd6d6b2760b1c44187c3b62dd9738..5252d4cbaa02ccf3272dc0917a5caed278957f13 100644 (file)
--- a/src/robofsm/fsmmain.c
+++ b/src/robofsm/fsmmain.c
@@ -80,8 +80,8 @@ void *wait_to_deposition(void *arg)
 /**
  * Get position of the point when we know the distance and angle to turn.
  *
- * @param act  actual position
- * @param pos  countered position
+ * FIXME: - there used to be non-actual parameter documentation
+ *        - what was this function good for? (not used anywhere)
  */
 void get_relative_pos(struct est_pos_type *est, struct ref_pos_type *ref, 
                        double l, double phi)

diff --git a/src/robofsm/robot.c b/src/robofsm/robot.c
index 9f49d2986c7956a2407b9b4a318cc3475e8fbe4b..93f35b8de05a88076dbd994cde949e165a59c324 100644 (file)
--- a/src/robofsm/robot.c
+++ b/src/robofsm/robot.c
@@ -132,10 +132,10 @@ int robot_init()
        robot.orte.pwr_ctrl.voltage50 = 1;
        robot.orte.pwr_ctrl.voltage80 = 1;
 
-       // act_...
-       
        robot.fsm.motion.state = &fsm_state_motion_init;
 
+       robot.fsm.act.state = &fsm_state_act_wait_for_command; // puck handling actuators FSM's initial state
+
        /* Only activate display if it is configured */
        robot.sercom = uoled_init(serial_comm);
        if (strcmp(robot.sercom->devname, "/dev/null") != 0)