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+# Cylinder FSM
+# Control the puck's entrance
+cylinder
+
+States:
+ IDLE
+ waiting for init
+ INIT
+ initializing cylinder
+ WAIT_A_PUCK
+ waiting a puck enter in cylinder
+ TURN_PLUS_2
+ turn cylinder to 2 positions after
+ WAIT_FOR_BRIDGE_READY
+ waiting for the bridge is ready
+ TURN_PLUS_2_AGAIN
+ release puck to the bridge after a wait (cf. WAIT_FOR_BRIDGE_READY)
+ TURN_PLUS_4
+ release a puck directly from the ground to the bridge
+ PROBE_OF
+ probe optical fence to detect puck in position 3
+ TURN_MINUS_3
+ turn cylinder to 3 positions before to eject puck to the ground
+ TURN_MINUS_1
+ turn cylinder to 1 position before to prevent new puck enter in the robot
+ WAIT_FOR_PUCKS_RELEASE
+ waiting for pucks release from the lift
+ TURN_PLUS_1
+ open the puck entrance
+
+Events:
+ jack_in
+ the init signal
+ init_done
+ cylinder ready for a new match
+ new_puck
+ there is a puck in position 1
+ move_done
+ cylinder move finished
+ bridge_ready
+ bridge ready to get a new puck
+ probe_done
+ Optical fence probe finished
+ lift_ready
+ lift ready to get pucks
+
+
+IDLE:
+ jack_in -> INIT
+ initialize robot
+
+INIT:
+ init_done -> WAIT_A_PUCK
+ the cylinder is ready to get pucks
+
+WAIT_A_PUCK:
+ new_puck: bridge_full -> TURN_PLUS_2
+ bridge full, waiting before release puck to the bridge
+ new_puck: bridge_ready -> TURN_PLUS_4
+ put puck to the bridge
+
+TURN_PLUS_2:
+ move_done -> WAIT_FOR_BRIDGE_READY
+ bridge full, waiting for Bison Fute's clearance
+
+WAIT_FOR_BRIDGE_READY:
+ bridge_ready -> TURN_PLUS_2_AGAIN
+ bridge clear, delivering puck...
+
+TURN_PLUS_2_AGAIN:
+ move_done -> PROBE_OF
+ there is a puck to the cylinder?
+
+TURN_PLUS_4:
+ move_done -> PROBE_OF
+ there is a puck to the cylinder?
+
+PROBE_OF:
+ probe_done: puck_detected_and_lift_full -> TURN_MINUS_3
+ BAD CASE, there is an undesirable puck to the cylinder
+ probe_done: puck_detected_and_lift_ready -> WAIT_FOR_BRIDGE_READY
+ there is a puck, we take a shortcut...
+ probe_done: cylinder_empty_and_lift_full -> TURN_MINUS_1
+ stop accepting new puck
+ probe_done: cylinder_empty_and_lift_ready -> WAIT_A_PUCK
+ ready for a new puck
+
+TURN_MINUS_3:
+ move_done -> WAIT_FOR_PUCKS_RELEASE
+ evil puck dropped and robot entrance closed
+
+TURN_MINUS_1:
+ move_done -> WAIT_FOR_PUCKS_RELEASE
+ robot entrance closed
+
+WAIT_FOR_PUCKS_RELEASE:
+ lift_ready -> TURN_PLUS_1
+ robot ready for new puck, open door
+
+TURN_PLUS_1:
+ move_done -> WAIT_A_PUCK
+ door opened, ready for a new puck