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authorJérémy Dufour2008-05-03 12:43:19 +0200
committerJérémy Dufour2008-05-03 12:43:19 +0200
commit23bce6a75a17b9cd9d3f35a251baa1b0635697a4 (patch)
treecc53e275464e9e86cf6fe705497d0212fea960f1 /digital/io/src/gutter.fsm
parent1bcff7dbcbb284f5564ac708292b23fd447395a9 (diff)
* digital/io/src
- manage the event where the bot can be blocked (when moving) in the different FSM, by waiting and trying again ; - ensure we update the classifier (with the servos motor) even when the arm move in a state where it should not.
Diffstat (limited to 'digital/io/src/gutter.fsm')
-rw-r--r--digital/io/src/gutter.fsm9
1 files changed, 8 insertions, 1 deletions
diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm
index 966ee8f0..97163cc0 100644
--- a/digital/io/src/gutter.fsm
+++ b/digital/io/src/gutter.fsm
@@ -11,6 +11,8 @@ States:
make the bot reversing against the gutter
DROP_BALLS
open the collector to let the balls fall into the gutter
+ WAIT_AND_TRY_AGAIN
+ ask the top FSM to wake us up in a few times
Events:
start
@@ -38,9 +40,14 @@ GO_TO_THE_GUTTER_WALL:
# preventing from fucking the wall
# The best way is probably to abort this FSM with an error, tell the upper one
# (top) we need to try at another place (the gutter is quite long).
-# bot_move_failed
+ bot_move_failed -> WAIT_AND_TRY_AGAIN
+ ask the top FSM to wake us up in a few times
DROP_BALLS:
wait_finished -> IDLE
close the rear panel
tell the top FSM we have finished
+
+WAIT_AND_TRY_AGAIN:
+ wait_finished -> GO_TO_THE_GUTTER_WALL
+ try the fuck the wall again