From 361716c3f318b61d37084ea20d8761300b71fc3b Mon Sep 17 00:00:00 2001 From: petr Date: Sat, 10 Mar 2012 11:20:32 +0100 Subject: [PATCH] robofsm: Homologation 2012 Removed timers and trajectory simplification. --- src/robofsm/homologation2012.cc | 19 +++++-------------- 1 file changed, 5 insertions(+), 14 deletions(-) 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; -- 2.39.2