robofsm: Homologation 2012

Remove commentaries from the jaws action. Working correctly in Robomon.

diff --git a/src/robofsm/homologation2012.cc b/src/robofsm/homologation2012.cc
index fb79a656915754724e8b7dc3063be59f35dc9506..885b9157454903cf18be35cd12f7c1382265fe56 100644 (file)
--- a/src/robofsm/homologation2012.cc
+++ b/src/robofsm/homologation2012.cc
@@ -1,5 +1,5 @@
 /*
- * homologation.cc       12/02/21
+ * homologation.cc       12/02/28
  *
  * Robot's control program intended for homologation (approval phase) on Eurobot 2012.
  *
@@ -39,12 +39,12 @@ struct TrajectoryConstraints tcFast, tcSlow, tcVerySlow;
 
 FSM_STATE_DECL(init);
 FSM_STATE_DECL(wait_for_start);
-/* movement states */
+/* movement states - buillon */
 FSM_STATE_DECL(aproach_buillon);
 FSM_STATE_DECL(load_buillon);
 FSM_STATE_DECL(place_buillon);
 FSM_STATE_DECL(leave_buillon);
-
+/* Pushing the bottle */
 FSM_STATE_DECL(push_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
@@ -144,9 +144,9 @@ FSM_STATE(aproach_buillon)
                                1.14,
                                TURN_CW(DEG2RAD(180)));
                        break;
-               case EV_MOTION_DONE: // according to the previous year
+               case EV_MOTION_DONE:
                        FSM_TIMER(2000);
-                       //act_jaws(OPEN);
+                       act_jaws(OPEN);
                        break;
                case EV_TIMER:
                        FSM_TRANSITION(load_buillon);
@@ -168,7 +168,7 @@ FSM_STATE(load_buillon)
                        break;
                case EV_MOTION_DONE:
                        FSM_TIMER(2000);
-                       //act_jaws(CATCH);
+                       act_jaws(CATCH);
                        break;
                case EV_TIMER:
                        FSM_TRANSITION(place_buillon);
@@ -190,7 +190,7 @@ FSM_STATE(place_buillon)
                        break;
                case EV_MOTION_DONE:
                        FSM_TIMER(2000);
-                       //act_jaws(OPEN);
+                       act_jaws(OPEN);
                        break;
                case EV_TIMER:
                        FSM_TRANSITION(leave_buillon);
@@ -212,7 +212,7 @@ FSM_STATE(leave_buillon)
                        break;
                case EV_MOTION_DONE:
                        FSM_TIMER(2000);
-                       //act_jaws(CLOSE);
+                       act_jaws(CLOSE);
                        break;
                case EV_TIMER:
                        FSM_TRANSITION(push_bottle);