From 8bb3210e139183c36984427926bbf0061dc5e6dd Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 4 May 2010 02:25:05 +0200 Subject: digital/io/src: add clamp to loader FSM --- digital/io/src/loader.fsm | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) (limited to 'digital/io/src/loader.fsm') diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm index c89e8931..554ff08a 100644 --- a/digital/io/src/loader.fsm +++ b/digital/io/src/loader.fsm @@ -11,6 +11,10 @@ States: wait until the jack is removed to initialise robot LOADER_INIT_ELEVATOR_ZERO move the elevator down to find zero position + LOADER_INIT_CLAMP_CLOSE + test clamp closing + LOADER_INIT_CLAMP_ZERO + find clamp zero position LOADER_INIT_ELEVATOR_UP move the elevator up so that the robot can go to the wall @@ -19,6 +23,8 @@ Events: asserv success result elevator_failed asserv failure result + clamp_succeed + asserv success result, clamp movement cannot fail LOADER_IDLE: start -> LOADER_WAIT_JACK_IN @@ -29,10 +35,18 @@ LOADER_WAIT_JACK_IN: LOADER_WAIT_JACK_OUT: jack_removed_from_bot -> LOADER_INIT_ELEVATOR_ZERO find elevator zero + close clamp LOADER_INIT_ELEVATOR_ZERO: - elevator_succeed -> LOADER_INIT_ELEVATOR_UP + elevator_succeed -> LOADER_INIT_CLAMP_CLOSE + +LOADER_INIT_CLAMP_CLOSE: + clamp_succeed -> LOADER_INIT_CLAMP_ZERO move elevator up + find clamp zero + +LOADER_INIT_CLAMP_ZERO: + clamp_succeed -> LOADER_INIT_ELEVATOR_UP LOADER_INIT_ELEVATOR_UP: elevator_succeed -> LOADER_IDLE -- cgit v1.2.3