From d100ba5ef47677c0a89b024ab484cf7db45cb875 Mon Sep 17 00:00:00 2001
From: Michal Vokac <vokac.m@gmail.com>
Date: Thu, 15 Dec 2011 19:40:16 +0100
Subject: [PATCH] robofsm: Fix wrong manipulation with crane.

Did not wait after crane down movement done.
Tune down position.
---
 src/robofsm/actuators.h   | 2 +-
 src/robofsm/sub-states.cc | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/robofsm/actuators.h b/src/robofsm/actuators.h
index e5e8a8b5..2a686d03 100644
--- a/src/robofsm/actuators.h
+++ b/src/robofsm/actuators.h
@@ -27,7 +27,7 @@ of the robot.
 #define ACTUATORS_H
 
 #define CRANE_UP		0x90
-#define CRANE_DOWN		0x200
+#define CRANE_DOWN		0x150
 
 #include <stdint.h>
 
diff --git a/src/robofsm/sub-states.cc b/src/robofsm/sub-states.cc
index 3a9182f8..82def0ad 100644
--- a/src/robofsm/sub-states.cc
+++ b/src/robofsm/sub-states.cc
@@ -177,8 +177,9 @@ FSM_STATE(get_target_load)
                 case EV_CRANE_DONE:
                         if (direction == 0) {
                                 direction = 1;
+                                FSM_TIMER(3000);
+                        } else {
                                 act_crane(CRANE_UP);
-                                FSM_TIMER(2000);
                         }
                         break;
                 case EV_EXIT:
-- 
2.39.2