From: petr <silhavik.p@gmail.com>
Date: Sat, 10 Mar 2012 10:20:32 +0000 (+0100)
Subject: robofsm: Homologation 2012
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/361716c3f318b61d37084ea20d8761300b71fc3b

robofsm: Homologation 2012

Removed timers and trajectory simplification.
---

diff --git a/src/robofsm/homologation2012.cc b/src/robofsm/homologation2012.cc
index 885b9157..1a15c0b6 100644
--- 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;