path: root/digital/io/src/getsamples.fsm
diff options
authorJérémy Dufour2008-05-03 11:15:31 +0200
committerJérémy Dufour2008-05-03 11:15:31 +0200
commit1bcff7dbcbb284f5564ac708292b23fd447395a9 (patch)
tree2cc5f47226bd7155f9ed575d1a76593b6f14a802 /digital/io/src/getsamples.fsm
parentd803fd8ba61dba29c904ee1fccfab2b7177834d4 (diff)
* digital/io/src
* top FSM - change the position where to drop balls at the gutter (to prevent the order of dropped balls to change) ; - change the order of balls taken at the distributor: first two samples with three ice, then three samples with two ice. * get samples FSM - manage the case where the arm passed the noted position in the state where it should not (because the arm was blocked) ; - add some debug messages. * gutter FSM - reduce the time spent to drop the balls at the gutter. * move FSM - update the algorithm to avoid obstacle: when a obstacle is seen, first way, then if it is not present anymore continue, otherwise, try to find an alternative path; if none found, wait again. * chrono - near end of the match time increased to 83s.
Diffstat (limited to 'digital/io/src/getsamples.fsm')
1 files changed, 4 insertions, 0 deletions
diff --git a/digital/io/src/getsamples.fsm b/digital/io/src/getsamples.fsm
index 0079d458..175a1824 100644
--- a/digital/io/src/getsamples.fsm
+++ b/digital/io/src/getsamples.fsm
bot_move_succeed -> CLOSE_INPUT_HOLE
close input hole
setup a close timeout
+ arm_pass_noted_position -> .
+ prepare the classification of the taken sample
arm_move_succeed -> IDLE
@@ -85,3 +87,5 @@ CLOSE_INPUT_HOLE:
wait_finished -> IDLE
timed out, give up
tell the top FSM we have finished
+ arm_pass_noted_position -> .
+ prepare the classification of the taken sample