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authorNélio Laranjeiro2008-03-03 22:24:30 +0100
committerNélio Laranjeiro2008-03-03 22:24:30 +0100
commit77b5f52e3abf2f40b86e15fe22f73d06fd2b53a0 (patch)
treed01665cc4bcf614fcbdeafb3ff09e048723d46fa /digital/io/doc
parent2104cfdea2b4e3cb719d454f73e90f9b7be7fafb (diff)
Added the sub State machines of the AI.
Diffstat (limited to 'digital/io/doc')
-rw-r--r--digital/io/doc/chargeBall.dot8
-rw-r--r--digital/io/doc/chuteFsm.dot9
-rw-r--r--digital/io/doc/getSamplesFsm.dot13
-rw-r--r--digital/io/doc/makefile5
4 files changed, 34 insertions, 1 deletions
diff --git a/digital/io/doc/chargeBall.dot b/digital/io/doc/chargeBall.dot
new file mode 100644
index 00000000..d5bf2507
--- /dev/null
+++ b/digital/io/doc/chargeBall.dot
@@ -0,0 +1,8 @@
+/* IO.avr module. Charge balls Final State Machine */
+digraph chargeBallFsm
+{
+ node [color=lightblue2, style=filled];
+ "Rotate harm" -> "Go backward" [label = "Harm in position"];
+ "Go backward" -> "Stop harm" [label = "Poisition reached"];
+ "Stop harm" -> End [label = "Harm stopped"];
+} \ No newline at end of file
diff --git a/digital/io/doc/chuteFsm.dot b/digital/io/doc/chuteFsm.dot
new file mode 100644
index 00000000..ede3fbe0
--- /dev/null
+++ b/digital/io/doc/chuteFsm.dot
@@ -0,0 +1,9 @@
+/* IO.avr module. Chute Final State Machine */
+digraph chuteFsm
+{
+ "Go to chute" -> "Go to the wall backward" [label = "Near the chute."];
+ "Go to the wall backward" -> "Open chute" [label = "On the wall"];
+ "Open chute" -> "Wait fixed time" [label = "Chute opened"];
+ "Wait fixed time" -> "Close chute" [label = "Time out"];
+ "Close chute" -> End [label = "Chute closed"];
+} \ No newline at end of file
diff --git a/digital/io/doc/getSamplesFsm.dot b/digital/io/doc/getSamplesFsm.dot
new file mode 100644
index 00000000..027e679a
--- /dev/null
+++ b/digital/io/doc/getSamplesFsm.dot
@@ -0,0 +1,13 @@
+/* IO.avr module. Get Samples Final State Machine */
+digraph GetSamplesFsm
+{
+ node [color=lightblue2, style=filled];
+ "Go to position" -> "Prepare Harm for ditributor" [label = "Position reached"];
+ "Prepare Harm for ditributor" -> "Forward controled" [label = "Harm prepared"];
+ "Forward controled" -> "Prepare classifier" [label = "Ready to peek samples"];
+ "Prepare classifier" -> "Activate harm" [label = "Classifier prepared"];
+ "Activate harm" -> "Go backward" [label = "Harm activated"];
+ "Go backward" -> "Continue harm rotation" [label = "Position reached"];
+ "Continue harm rotation" -> "Continue classifier" [label = "Harm stopped"];
+ "Continue classifier" -> End [label = "Classification ended"];
+} \ No newline at end of file
diff --git a/digital/io/doc/makefile b/digital/io/doc/makefile
index 3afed9d0..e0213364 100644
--- a/digital/io/doc/makefile
+++ b/digital/io/doc/makefile
@@ -1,2 +1,5 @@
-fsm : mainFsm.dot
+fsm : mainFsm.dot chargeBall.dot getSamplesFsm.dot chuteFsm.dot
dot -Tpng -o mainFsm.png mainFsm.dot
+ dot -Tpng -o chargeBall.png chargeBall.dot
+ dot -Tpng -o getSamplesFsm.png getSamplesFsm.dot
+ dot -Tpng -o chuteFsm.png chuteFsm.dot \ No newline at end of file