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authorJérémy Dufour2009-05-22 20:22:47 +0200
committerJérémy Dufour2009-05-22 20:22:47 +0200
commit44391d78c04de4df948e0b1dc8309cb990b0f39a (patch)
treeaa0e43547abebb13b23775513635ab2bcf2e3177 /digital/io/src/top.fsm
parent4ae03c6e14b75e62b9a8b446e6d7ae64c7d0b969 (diff)
* digital/io/src:
- manage the case where there is a puck in front of the bot when we try to unload everything on the central unload zone.
Diffstat (limited to 'digital/io/src/top.fsm')
-rw-r--r--digital/io/src/top.fsm4
1 files changed, 3 insertions, 1 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index cd8517a1..496edadc 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -130,7 +130,9 @@ PREPARE_ELEVATOR:
FUCK_UNLOAD_AREA:
bot_move_succeed -> UNLOAD_PUCKS
unload all the pucks from the elevator.
- bot_move_failed -> GO_AWAY_TO_RETRY_UNLOAD
+ bot_move_failed: try_again -> GO_AWAY_TO_RETRY_UNLOAD
+ move backward from the unload area using linear move.
+ bot_move_failed: no_more_try_again -> UNLOAD_PUCKS
move backward from the unload area using linear move.
GO_AWAY_TO_RETRY_UNLOAD: