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authorNélio Laranjeiro2008-04-18 00:56:07 +0200
committerNélio Laranjeiro2008-04-18 00:56:07 +0200
commitaee65133f5500aa3659297f156786122668ffa66 (patch)
tree651c8a5cb25817e6b3c036403266741d73720d29 /digital/io/src/gutter.fsm
parentbc77f0483fc4e41fab5ca184a8e2f2664b935d20 (diff)
Modified gutter FSM to go to the Wall after putting the robot back to
the gutter.
Diffstat (limited to 'digital/io/src/gutter.fsm')
-rw-r--r--digital/io/src/gutter.fsm14
1 files changed, 13 insertions, 1 deletions
diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm
index 906feaf9..a8b1409a 100644
--- a/digital/io/src/gutter.fsm
+++ b/digital/io/src/gutter.fsm
@@ -3,16 +3,28 @@ gutter
States:
IDLE
+ ROTATE_REAR_SIDE_TO_GUTTER
+ GO_TO_THE_GUTTER_WALL
OPEN_COLLECTOR
CLOSE_COLLECTOR
Events:
start
+ rotation_done
+ ready
collector_opened
collector_closed
IDLE:
- start -> OPEN_COLLECTOR
+ start -> ROTATE_REAR_SIDE_TO_GUTTER
+ Pur the robot back to the gutter to allow it to drop the balls in the gutter.
+
+ROTATE_REAR_SIDE_TO_GUTTER:
+ rotation_done -> GO_TO_THE_GUTTER_WALL
+ The rotation is done, the robot can go to the wall in backward mode to drop the balls in the gutter.
+
+GO_TO_THE_GUTTER_WALL:
+ ready -> OPEN_COLLECTOR
Open the collector and wait for a while.
OPEN_COLLECTOR: