float inch = 300.0/36.0;
void fsm(){
if(state ==
0){
servo_horizontal();
straight_syncro_horizontal(0.0, 100, 300L,
frontpos);
servo_vertical();
straight_syncro_vertical(0.0, 100, 1400L,
-frontpos);
servo_horizontal();
straight_syncro_horizontal(0.0, 100, 750L,
-frontpos);
servo_vertical();
straight_syncro_vertical(0.0, 100, 2800L,
frontpos);
servo_horizontal();
straight_syncro_horizontal(0.0, 100, 750L,
frontpos);
servo_vertical();
straight_syncro_vertical(0.0, 100, 500L,
-frontpos);
servo_horizontal();
straight_syncro_horizontal(0.0, 100, 500L,
-frontpos);
servo_vertical();
straight_syncro_vertical(0.0, 100, 3000L,
frontpos);
alloff();
}
else if(state ==
1){
straight_syncro_vertical(0.0, 100, 300L, frontpos);
servo_horizontal();
straight_syncro_horizontal(0.0,
100, 1800L, frontpos);
servo_vertical();
straight_syncro_vertical(0.0, 100, 750L,
-frontpos);
servo_horizontal();
straight_syncro_horizontal(0.0, 100, 2800L,
-frontpos);
servo_vertical();
straight_syncro_vertical(0.0, 100, 750L, frontpos);
servo_horizontal();
straight_syncro_horizontal(0.0, 100, 750L,
frontpos);
servo_vertical();
straight_syncro_vertical(0.0, 100, 500L,
-frontpos);
servo_horizontal();
straight_syncro_horizontal(0.0, 100, 2000L,
-frontpos);
alloff();
}
}