summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/loader.fsm
diff options
context:
space:
mode:
authorNicolas Schodet2010-05-14 01:44:16 +0200
committerNicolas Schodet2010-05-14 01:44:16 +0200
commit6ca539dd06a20f44d6a01d450668819c7c89d201 (patch)
treef43e8fcc899304ff977a79c2ec488c660fb9fff2 /digital/io/src/loader.fsm
parent3966014502a626b938c473535935748793c3f904 (diff)
digital/io/src: handle loader state change in any state
Diffstat (limited to 'digital/io/src/loader.fsm')
-rw-r--r--digital/io/src/loader.fsm12
1 files changed, 10 insertions, 2 deletions
diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm
index 92c0d839..e830def9 100644
--- a/digital/io/src/loader.fsm
+++ b/digital/io/src/loader.fsm
@@ -161,12 +161,16 @@ LOADER_DOWNING:
post loader_downed event
elevator_failed -> LOADER_ERROR
post loader_errored event
+ loader_up -> LOADER_UPING
+ move up
LOADER_UPING:
elevator_succeed -> LOADER_UP
post loader_uped event
elevator_failed -> LOADER_ERROR
post loader_errored event
+ loader_down -> LOADER_DOWNING
+ move down
LOADER_LOAD_CLOSING:
clamp_succeed: full -> LOADER_LOAD_UPING
@@ -187,9 +191,13 @@ LOADER_LOAD_UNLOADING:
post loader_errored event
LOADER_LOAD_UNLOADING_OPEN:
- clamp_succeed -> LOADER_DOWNING
+ clamp_succeed: down -> LOADER_DOWNING
move down
+ clamp_succeed: up -> LOADER_UPING
+ move up
LOADER_LOAD_EMPTY_OPEN:
- clamp_succeed -> LOADER_DOWN
+ clamp_succeed: down -> LOADER_DOWN
+ clamp_succeed: up -> LOADER_UPING
+ move up