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authorNicolas Haller2009-05-09 05:05:39 +0200
committerNicolas Haller2009-05-09 05:05:39 +0200
commita367d0c7148a6de0c16aa8f9dabd597be01d3584 (patch)
treeb81ccb315894510e286f38cf305be35e368bc54b /digital/io/src/filterbridge.fsm
parent7d174ea9c2cbecfa548fa4423d432073c5fa8043 (diff)
* digital/io/src:
- fix init FSM (fix angle values) - implement filterbridge FSM
Diffstat (limited to 'digital/io/src/filterbridge.fsm')
-rw-r--r--digital/io/src/filterbridge.fsm10
1 files changed, 8 insertions, 2 deletions
diff --git a/digital/io/src/filterbridge.fsm b/digital/io/src/filterbridge.fsm
index 2a87ab05..5722f5e2 100644
--- a/digital/io/src/filterbridge.fsm
+++ b/digital/io/src/filterbridge.fsm
@@ -11,6 +11,8 @@ States:
close access to the lift (and wait 1 sec)
WAIT_A_PUCK
waiting for a new puck
+ MARCEL_WAIT[timeout=45]
+ waiting the puck is entirely in pos2
OPEN_DOOR[timeout=225]
release puck to the lift and block a new puck on pos1
PUSH_PUCK
@@ -43,8 +45,12 @@ CLOSE_DOOR:
WAIT_A_PUCK:
puck_on_pos2: lift_not_ready -> .
Lift not ready, we stand by
- puck_on_pos2: lift_ready -> OPEN_DOOR
- Lift ok, we deliver
+ puck_on_pos2: lift_ready -> MARCEL_WAIT
+ wait the puck is entirely on pos2
+
+MARCEL_WAIT:
+ state_timeout -> OPEN_DOOR
+ lift ready, we deliver
OPEN_DOOR:
state_timeout -> PUSH_PUCK