summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/getsamples.fsm
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/getsamples.fsm')
-rw-r--r--digital/io/src/getsamples.fsm5
1 files changed, 5 insertions, 0 deletions
diff --git a/digital/io/src/getsamples.fsm b/digital/io/src/getsamples.fsm
index 0628448b..154bb489 100644
--- a/digital/io/src/getsamples.fsm
+++ b/digital/io/src/getsamples.fsm
@@ -61,6 +61,7 @@ APPROACH_DISTRIBUTOR:
MOVE_BACKWARD_FROM_DISTRIBUTOR:
bot_move_succeed -> TAKE_SAMPLES
start taking some samples
+ setup a timeout
TAKE_SAMPLES:
arm_pass_noted_position: more -> .
@@ -68,6 +69,9 @@ TAKE_SAMPLES:
take a new one
arm_pass_noted_position: no_more -> MOVE_AWAY_FROM_DISTRIBUTOR
go backward
+ wait_finished -> MOVE_AWAY_FROM_DISTRIBUTOR
+ timed out, give up
+ go backward
MOVE_AWAY_FROM_DISTRIBUTOR:
bot_move_succeed -> CLOSE_INPUT_HOLE
@@ -79,3 +83,4 @@ CLOSE_INPUT_HOLE:
tell the top FSM we have finished
wait_finished -> IDLE
timed out, give up
+ tell the top FSM we have finished