summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/init.fsm
diff options
context:
space:
mode:
authorJérémy Dufour2009-05-18 13:03:52 +0200
committerJérémy Dufour2009-05-18 13:03:52 +0200
commitdf86960a8825149382e162e04ef37667f0ebdd37 (patch)
treee69cab4783310a304367624b7f202a014114585e /digital/io/src/init.fsm
parent776657ebb6dc993bfcb0f3e8de41bb344a0bb9b7 (diff)
* digital/io/src:
- add event for the last command sent to the asserv board has been acquited, - make init FSM finish by returning to IDLE state (and not moving and moving again), - when in position, do a last turn, to face in the right position.
Diffstat (limited to 'digital/io/src/init.fsm')
-rw-r--r--digital/io/src/init.fsm5
1 files changed, 4 insertions, 1 deletions
diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm
index 8b9aa4dc..faf41e2b 100644
--- a/digital/io/src/init.fsm
+++ b/digital/io/src/init.fsm
@@ -34,6 +34,9 @@ Events:
move_done
the move is finished
state_timeout
+ timeout.
+ asserv_last_cmd_ack
+ last command sent to the asserv board acquited.
IDLE:
start -> WAIT_JACK_IN
@@ -68,5 +71,5 @@ GO_BACKWARD_AGAIN:
set real position to asserv
SET_POSITION:
- move_done -> TURN_90_DEGREES_CCW
+ asserv_last_cmd_ack -> IDLE
turn bot for 180 degrees counterclockwise