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-rw-r--r--digital/io/src/filterbridge.fsm14
1 files changed, 10 insertions, 4 deletions
diff --git a/digital/io/src/filterbridge.fsm b/digital/io/src/filterbridge.fsm
index 728c5615..c039fa7e 100644
--- a/digital/io/src/filterbridge.fsm
+++ b/digital/io/src/filterbridge.fsm
@@ -11,6 +11,8 @@ States:
close access to the lift (and wait 1 sec)
WAIT_A_PUCK
waiting for a new puck
+ WAIT_LIFT_READY
+ waiting for elevator ready
MARCEL_WAIT[timeout=45]
waiting the puck is entirely in pos2
OPEN_DOOR[timeout=225]
@@ -25,6 +27,8 @@ Events:
robot start
jack_inserted_into_bot
jack into the bot
+ lift_ready
+ the elevator is ready
puck_on_pos2
a puck has been detected on bridge's position 2
no_puck_on_pos2
@@ -45,10 +49,12 @@ CLOSE_DOOR:
we are ready, we wait a puck
WAIT_A_PUCK:
- puck_on_pos2: lift_not_ready -> .
- Lift not ready, we stand by
- puck_on_pos2: lift_ready -> MARCEL_WAIT
- wait the puck is entirely on pos2
+ puck_on_pos2 -> WAIT_LIFT_READY
+ Puck ready to be dropped to the elevator. Test if elvt ready to get it.
+
+WAIT_LIFT_READY:
+ lift_ready -> MARCEL_WAIT
+ the lift is ready
MARCEL_WAIT:
state_timeout -> OPEN_DOOR