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authorNélio Laranjeiro2008-04-10 00:44:25 +0200
committerNélio Laranjeiro2008-04-10 00:44:25 +0200
commit1d62fb05a261f1816a5be47d31abe64cdebcff00 (patch)
tree18f0be7f2738989c5479d5debcc932e406785a91 /digital/io/src/mainFsm.fsm
parent4078cbc146a2c0c7d23bd12b64930a771ccd0281 (diff)
Added the topfsm. pb with the fsm generation.
Diffstat (limited to 'digital/io/src/mainFsm.fsm')
-rw-r--r--digital/io/src/mainFsm.fsm52
1 files changed, 0 insertions, 52 deletions
diff --git a/digital/io/src/mainFsm.fsm b/digital/io/src/mainFsm.fsm
deleted file mode 100644
index 35482f52..00000000
--- a/digital/io/src/mainFsm.fsm
+++ /dev/null
@@ -1,52 +0,0 @@
-# Main FSM.
-mainfsm
-
-States:
- START
- GET_SAMPLES
- GET_ICE
- GO_TO_GOAL
- GET_ADV_ICE
-
-Events:
- ok
- samples_took
- collector_full
- ice_took
- samples_deposed
- samples_took_ice_distributor_empty_not_enough_time
- samples_took_ice_distributor_empty_enough_time
- samples_deposed_ice_distributor_empty
- ice_took_collector_full
- not_enough_time
- ice_took_collector_not_full
-
-START:
- ok -> GET_SAMPLES
- Go to take some samples. The sequence shall be adapt to take the correct number of samples.
-
-GET_SAMPLES:
- samples_took -> GET_ICE
- The samples had been took and now the ice is missing.
- samples_took_ice_distributor_empty_not_enough_time -> GO_TO_GOAL
- Some samples had been took and there is not enough time to get some ice.
- samples_took_ice_distributor_empty_enough_time -> GET_ADV_ICE
- Go to take ice in the adversary distributor because the one in our part of the table is empty.
- collector_full -> GO_TO_GOAL
- All the room in the robot are full.
-
-GET_ICE:
- ice_took -> GO_TO_GOAL
- The ice had been taken and the collector is full. The robot shall go to depose it into the goal.
-
-GO_TO_GOAL:
- samples_deposed -> GET_SAMPLES
- The samples had been deposed, it shall try to get more samples. This state will call the getsamples FSM and the moveFSM.
- samples_deposed_ice_distributor_empty -> GET_ADV_ICE
- Go to get some adversary ice because our distributor is empty.
-
-GET_ADV_ICE:
- ice_took -> GO_TO_GOAL
- The ice has been taken, now the robot shall depose it.
- ice_took_collector_not_full -> GET_SAMPLES
- There is enough time to get some samples and go to the goal.