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-rw-r--r--digital/io/src/getsamples.fsm6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/io/src/getsamples.fsm b/digital/io/src/getsamples.fsm
index 1fdfaa98..2f495626 100644
--- a/digital/io/src/getsamples.fsm
+++ b/digital/io/src/getsamples.fsm
@@ -23,6 +23,8 @@ States:
move the bot away from the distributor by going backward
CLOSE_INPUT_HOLE
put the arm back in front of the input hole to prevent sample to enter
+ MOVE_BACKWARD_FROM_DISTRIBUTOR
+ move a little bit backward from the distributor
Events:
start
@@ -51,6 +53,10 @@ OPEN_INPUT_HOLE:
start approaching the distributor now
APPROACH_DISTRIBUTOR:
+ bot_move_succeed -> MOVE_BACKWARD_FROM_DISTRIBUTOR
+ move a little bit backward from the distributor
+
+MOVE_BACKWARD_FROM_DISTRIBUTOR:
bot_move_succeed -> TAKE_SAMPLES
start taking some samples