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-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 2f495626..0628448b 100644
--- a/digital/io/src/getsamples.fsm
+++ b/digital/io/src/getsamples.fsm
@@ -39,6 +39,8 @@ Events:
the arm has reached the desired position
arm_pass_noted_position
the arm has just passed the 'noted' position
+ wait_finished
+ we have wait the desired time
IDLE:
start -> FACE_DISTRIBUTOR
@@ -70,7 +72,10 @@ TAKE_SAMPLES:
MOVE_AWAY_FROM_DISTRIBUTOR:
bot_move_succeed -> CLOSE_INPUT_HOLE
close input hole
+ setup a close timeout
CLOSE_INPUT_HOLE:
arm_move_succeed -> IDLE
tell the top FSM we have finished
+ wait_finished -> IDLE
+ timed out, give up