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-rw-r--r--digital/io/src/getsamples.fsm12
1 files changed, 3 insertions, 9 deletions
diff --git a/digital/io/src/getsamples.fsm b/digital/io/src/getsamples.fsm
index 3f7266d0..daf1b738 100644
--- a/digital/io/src/getsamples.fsm
+++ b/digital/io/src/getsamples.fsm
@@ -7,16 +7,15 @@ States:
PREPARE_ARM
FORWARD_CONTROL
TAKE_SAMPLES
- BACKWARD
END
Events:
ok
- position_reached
position_failed
arm_moved
sample_took
classifier_ready
+ position_reached
START:
ok -> GO_TO_POSITION
@@ -25,8 +24,6 @@ START:
GO_TO_POSITION:
position_reached -> PREPARE_ARM
Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor.
- position_failed -> GO_TO_POSITION
- Go to another point before trying to go to this one again.
PREPARE_ARM:
arm_moved -> FORWARD_CONTROL
@@ -39,9 +36,6 @@ FORWARD_CONTROL:
TAKE_SAMPLES:
sample_took: more -> .
Continue to take samples and classify the next sample.
- sample_took: no_more -> BACKWARD
- If the quantity of samples are tooked, then go backeward and conitnue classifying the samples.
+ sample_took: no_more -> END
+ If the quantity of samples are taken, then go backward and continue classifying the samples.
-BACKWARD:
- position_reached -> END
- Ending this state machine.