From a14c2c58d9132b444e7db5e2278d84f585444148 Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Fri, 22 May 2009 02:51:46 +0200 Subject: * digital/io/src: - fix of_probe on distributor mode (cylinder fsm) - improve pucks detection between fb and elevator --- digital/io/src/elevator.fsm | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) (limited to 'digital/io/src/elevator.fsm') diff --git a/digital/io/src/elevator.fsm b/digital/io/src/elevator.fsm index cc815fb6..c844f88c 100644 --- a/digital/io/src/elevator.fsm +++ b/digital/io/src/elevator.fsm @@ -13,6 +13,8 @@ States: go to a position to be ready to get a new puck WAIT_A_PUCK waiting for a new puck (hurry up filter bridge!) + WAIT_BRIDGE_EMPTY[timeout=1200] + waiting bridge empty WAIT_POS_ORDER waiting for position order (depending where we want to drop our column) GO_TO_POS_Y @@ -42,6 +44,8 @@ Events: we received a new puck from FB (filter bridge, not facebook) order_bypass Dont wait to have 4 pucks but we wait we don't have puck before bridge + bridge_empty + the bridge is empty order_received we received a new order doors_opened @@ -74,9 +78,18 @@ WAIT_A_PUCK: new_puck: not_ok_for_other_pucks -> WAIT_POS_ORDER incrementing nb_puck var no more time to wait a new puck - order_bypass -> GO_TO_POS_Y + order_bypass -> WAIT_BRIDGE_EMPTY elevator filling has been shut, get ready to drop pucks +WAIT_BRIDGE_EMPTY: + bridge_empty -> GO_TO_POS_Y + bridge is empty, we are happy, we drop the column + state_timeout -> GO_TO_POS_Y + we suppose bridge is empty and we said it to the fsm + new_puck -> WAIT_A_PUCK + We have a new puck, elevator must move, we go to WAIT_A_PUCK + + WAIT_POS_ORDER: order_received -> GO_TO_POS_Y go to position Y -- cgit v1.2.3