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-rw-r--r--digital/io/src/elevator.fsm11
1 files changed, 5 insertions, 6 deletions
diff --git a/digital/io/src/elevator.fsm b/digital/io/src/elevator.fsm
index c57bedb8..0e4b3ab5 100644
--- a/digital/io/src/elevator.fsm
+++ b/digital/io/src/elevator.fsm
@@ -8,7 +8,7 @@ States:
WAIT_JACK_IN
waiting for the jack
INIT
- init the elevator
+ init the elevator position and open door
GO_TO_POS_X
go to a position to be ready to get a new puck
WAIT_A_PUCK
@@ -30,13 +30,12 @@ States:
CLOSE_DOORS
closing the elevator's doors
+
Events:
start
io power on!
jack_inserted_into_bot
jack into the bot
- init_done
- init done
in_position
elevator is in position
new_puck
@@ -57,11 +56,11 @@ IDLE:
WAIT_JACK_IN:
jack_inserted_into_bot -> INIT
- make initializations
+ make initializations (elevator zero and open doors)
INIT:
- init_done -> GO_TO_POS_X
- match begin, we're going to be ready to get a new puck
+ doors_opened -> GO_TO_POS_X
+ make initializations (close doors)
GO_TO_POS_X:
in_position -> WAIT_A_PUCK