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authorNicolas Schodet2008-05-02 11:30:59 +0200
committerNicolas Schodet2008-05-02 11:30:59 +0200
commit5620e71a2078bf504cebbbe146cbb33f73e63314 (patch)
treeedf061fb21c6f8c510333121fad84c09ebe50214 /digital/io/src/getsamples.fsm
parent6980d8540e567a0955dc17d84c9d2e2166550a2b (diff)
* digital/io/src:
- added get sample timeout.
Diffstat (limited to 'digital/io/src/getsamples.fsm')
-rw-r--r--digital/io/src/getsamples.fsm5
1 files changed, 5 insertions, 0 deletions
diff --git a/digital/io/src/getsamples.fsm b/digital/io/src/getsamples.fsm
index 0628448b..154bb489 100644
--- a/digital/io/src/getsamples.fsm
+++ b/digital/io/src/getsamples.fsm
@@ -61,6 +61,7 @@ APPROACH_DISTRIBUTOR:
MOVE_BACKWARD_FROM_DISTRIBUTOR:
bot_move_succeed -> TAKE_SAMPLES
start taking some samples
+ setup a timeout
TAKE_SAMPLES:
arm_pass_noted_position: more -> .
@@ -68,6 +69,9 @@ TAKE_SAMPLES:
take a new one
arm_pass_noted_position: no_more -> MOVE_AWAY_FROM_DISTRIBUTOR
go backward
+ wait_finished -> MOVE_AWAY_FROM_DISTRIBUTOR
+ timed out, give up
+ go backward
MOVE_AWAY_FROM_DISTRIBUTOR:
bot_move_succeed -> CLOSE_INPUT_HOLE
@@ -79,3 +83,4 @@ CLOSE_INPUT_HOLE:
tell the top FSM we have finished
wait_finished -> IDLE
timed out, give up
+ tell the top FSM we have finished