From 7b88777104715c74cdf0e295591dfa8416234969 Mon Sep 17 00:00:00 2001
From: Filip Jares <filipjares@post.cz>
Date: Fri, 24 Apr 2009 22:04:53 +0200
Subject: [PATCH] actuator variables initialization moved to the init state,
 obsolete, previously commented out code removed

---
 src/robofsm/competition.cc | 22 +++++++---------------
 1 file changed, 7 insertions(+), 15 deletions(-)

diff --git a/src/robofsm/competition.cc b/src/robofsm/competition.cc
index e701a35d..58b07b5c 100644
--- a/src/robofsm/competition.cc
+++ b/src/robofsm/competition.cc
@@ -49,11 +49,9 @@
 typedef enum {
 	LOAD_SUCCESS = 0,
 	LOAD_FAIL,
-	//LOOK_AROUND_SUCCESS,	// obsolete, no sharp sensor
-	//LOOK_AROUND_FAIL	// obsolete, no sharp sensor
-} SUBFSM_RET_VAL;
+} subfsm_ret_val;
 
-#define FSM_EVENT_RET_VAL ((SUBFSM_RET_VAL)FSM_EVENT_INT)
+#define FSM_EVENT_RET_VAL ((subfsm_ret_val)FSM_EVENT_INT)
 
 /************************************************************************
  * Trajectory constraints used, are initialized in the init state
@@ -65,7 +63,9 @@ struct TrajectoryConstraints tcFast, tcSlow;
  * Variables related to puck collecting
  ************************************************************************/
 
-int free_puck_to_try_to_get_next = 0; // next free puck number (index of the free_puck_pick_up_sequence array) to pick up
+int free_puck_to_try_to_get_next; // next free puck number (index of the free_puck_pick_up_sequence array) to pick up
+int pucks_at_once; // number of pucks to load at once (maximum number of pucks we want to have in robot)
+
 
 /************************************************************************
  * Definition of particular "free pucks pick up sequences"
@@ -281,6 +281,8 @@ FSM_STATE(init)
 {
 	switch (FSM_EVENT) {
 	case EV_ENTRY:
+     		free_puck_to_try_to_get_next = 0; // next free puck number (index of the free_puck_pick_up_sequence array) to pick up
+     		pucks_at_once = 2; // number of pucks to load at once (maximum number of pucks we want to have in robot)
 		tcFast = trajectoryConstraintsDefault;
 		//tcFast.maxv = 1.5;
 		tcSlow = trajectoryConstraintsDefault;
@@ -376,11 +378,6 @@ FSM_STATE(collect_free_pucks)
 			break;
 		case EV_RETURN:
 			switch(FSM_EVENT_RET_VAL) {
-			/* obsolete, no sharp sensor present
-			case LOOK_AROUND_SUCCESS: // FIXME: test number of pucks loaded!!
-				printf(">>>>>> Look around succeeded\n");
-				SUBFSM_TRANSITION(load_the_puck, NULL);
-				break; */
 			case LOAD_SUCCESS:
 				printf(">>>>>> Loading the puck succeeded\n");
 				if(free_puck_to_try_to_get_next<4) {
@@ -388,11 +385,6 @@ FSM_STATE(collect_free_pucks)
 					robot_goto_next_puck_in_sequence(lot, free_puck_to_try_to_get_next);
 				}
 				break;
-			/* obsolete, no sharp sensor present
-			case LOOK_AROUND_FAIL:
-				printf(">>>>>> Looking around for the puck FAILED\n");
-				break; // FIXME: remove the break
-			*/
 			case LOAD_FAIL:
 				printf(">>>>>> Loading the puck FAILED\n");
 				if(free_puck_to_try_to_get_next<6) { // FIXME: test number of pucks loaded!!
-- 
2.39.2