summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/gutter.fsm
diff options
context:
space:
mode:
authorNélio Laranjeiro2008-03-30 20:53:54 +0200
committerNélio Laranjeiro2008-03-30 20:53:54 +0200
commit20bbd9db488c56bfc2195865ec2b5c77fa024dbd (patch)
treee43c7bf410358b218eed70a1d3555c921ce0a6d1 /digital/io/src/gutter.fsm
parent08f990e718f99e6caf53cb4583db267a0714ce6b (diff)
Moved the gutter fsm to the io/directory.
Diffstat (limited to 'digital/io/src/gutter.fsm')
-rw-r--r--digital/io/src/gutter.fsm34
1 files changed, 34 insertions, 0 deletions
diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm
new file mode 100644
index 00000000..158c8d13
--- /dev/null
+++ b/digital/io/src/gutter.fsm
@@ -0,0 +1,34 @@
+#FSM get samples
+get_samples
+
+States:
+ START
+ GO_TO_GUTTER
+ OPEN_COLLECTOR
+ CLOSE_COLLECTOR
+ END
+
+Events:
+ ok
+ position_reached
+ position_failed
+ collector_opened
+ collector_closed
+
+START:
+ ok -> GO_TO_GUTTER
+ Go to the gutter.
+
+GO_TO_GUTTER:
+ position_reached -> OPEN_COLLECTOR
+ The robo is near the gutter and the door can be opened.
+ position_failed -> .
+ The position failed, shall try another path.
+
+OPEN_COLLECTOR:
+ collector_opened -> CLOSE_COLLECTOR
+ Wait some time and clse the door.
+
+CLOSE_COLLECTOR:
+ collector_closed-> END
+ The samples has been inserted in the gutter.