summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/init.fsm
diff options
context:
space:
mode:
authorJérémy Dufour2009-05-18 22:29:25 +0200
committerJérémy Dufour2009-05-18 22:29:25 +0200
commitf416af1eeed92e9508744544e39983af82479965 (patch)
treedd9f3ff7639cb2e6dfdd64947e10335aaf11ef4a /digital/io/src/init.fsm
parent4cdc74b87719195c82d6e2b2026edf5887c6b0e3 (diff)
* digital/io/src:
- fix event sent to the wrong FSM, - start top FSM, - rewrite event generated by move FSM when its finished, - init FSM generates an event when the match start, - init FSM starts the chrono when the match start, - top FSM now uses the event generated by the init FSM to know when the match start and not the jack states.
Diffstat (limited to 'digital/io/src/init.fsm')
-rw-r--r--digital/io/src/init.fsm9
1 files changed, 8 insertions, 1 deletions
diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm
index 72db9a6f..89ec26e6 100644
--- a/digital/io/src/init.fsm
+++ b/digital/io/src/init.fsm
@@ -41,6 +41,8 @@ States:
go backward from the wall for a specific distance.
GO_TO_START_POSITION
go to the start position.
+ WAIT_SECOND_JACK_OUT
+ wait the jack to be removed from the bot for the second time.
Events:
start
@@ -114,6 +116,11 @@ GO_AWAY_FROM_THE_WALL_AGAIN:
go to the start position with a go to movement.
GO_TO_START_POSITION:
- bot_move_succeed -> IDLE
+ bot_move_succeed -> WAIT_SECOND_JACK_OUT
nothing to do, the bot is at the start position.
+WAIT_SECOND_JACK_OUT:
+ jack_removed_from_bot -> IDLE
+ tell other FSM the match begins.
+ start the chrono.
+