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-# Filter Bridge FSM
-# Filter column element (our colour -> go to lift, !our colour -> EJECT)
-filterbridge
-
-States:
- IDLE
- waiting the lift is ready to accept new puck
- WAIT_JACK_IN
- waiting for the jack to be inserted into the bot
- CLOSE_DOOR[timeout=225]
- 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]
- release puck to the lift and block a new puck on pos1
- PUSH_PUCK
- push the puck to the lift
- TEMPO_ELVETATOR_COMMUNICATION [timeout=225]
- a temporisation for the communication between the eleveator and the FB.
-
-Events:
- start
- 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
- there is no puck on position 2
- state_timeout
- timeout used to wait the end of servo move
-
-IDLE:
- start -> WAIT_JACK_IN
- we wait for the jack
-
-WAIT_JACK_IN:
- jack_inserted_into_bot -> CLOSE_DOOR
- we init the bridge
-
-CLOSE_DOOR:
- state_timeout -> WAIT_A_PUCK
- we are ready, we wait a puck
-
-WAIT_A_PUCK:
- 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
- lift ready, we deliver
-
-OPEN_DOOR:
- state_timeout -> PUSH_PUCK
- we push the puck to the lift
-
-PUSH_PUCK:
- no_puck_on_pos2 -> TEMPO_ELVETATOR_COMMUNICATION
- nothing to do.
-
-TEMPO_ELVETATOR_COMMUNICATION:
- state_timeout -> CLOSE_DOOR
- the puck disappears, we close doors
- tell the elevator we are ready.