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authorJérémy Dufour2009-05-22 20:23:26 +0200
committerJérémy Dufour2009-05-22 20:23:26 +0200
commit19b20cc7f4f83608805b2d18cb466493174a0ca5 (patch)
treec2d3db79e83771968c2629365379566560290ff6 /digital/io/src/top.fsm
parent44391d78c04de4df948e0b1dc8309cb990b0f39a (diff)
* digital/io/src:
- do not try to unload pucks when we have no puck and we failed our move.
Diffstat (limited to 'digital/io/src/top.fsm')
-rw-r--r--digital/io/src/top.fsm8
1 files changed, 5 insertions, 3 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index 496edadc..02fb854c 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -87,10 +87,12 @@ GET_PUCK_FROM_THE_GROUND:
get the next distributor position and launch move FSM to go there.
move_fsm_succeed: next_position_exists -> .
go to the next position using move FSM.
- move_fsm_failed -> GO_TO_UNLOAD_AREA
+ move_fsm_failed: some_pucks -> GO_TO_UNLOAD_AREA
close cylinder.
- we have failed to do a move, go the distributor (get next distributor and go
- there with move FSM).
+ we have failed to do a move, unload pucks.
+ move_fsm_failed: no_puck -> GET_PUCK_FROM_DISTRIBUTOR
+ close cylinder.
+ get the next distributor position and launch move FSM to go there.
bot_is_full_of_pucks -> STOP_TO_GO_TO_UNLOAD_AREA
stop move FSM.
state_timeout: no_puck -> STOP_TO_GET_PUCK_FROM_DISTRIBUTOR