From eceb349ddc39d337db4872bccf4b0f374f2783ae Mon Sep 17 00:00:00 2001 From: petr Date: Tue, 28 Feb 2012 20:28:10 +0100 Subject: [PATCH 1/1] robofsm: Homologation 2012 Remove commentaries from the jaws action. Working correctly in Robomon. --- src/robofsm/homologation2012.cc | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) 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); -- 2.39.2