From: petr <silhavik.p@gmail.com>
Date: Tue, 28 Feb 2012 19:28:10 +0000 (+0100)
Subject: robofsm: Homologation 2012
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/eurobot/public.git/commitdiff_plain/eceb349ddc39d337db4872bccf4b0f374f2783ae?hp=9bae5089e4574aa37db7311448070f94ccf62c62

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 fb79a656..885b9157 100644
--- 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);