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-rw-r--r--digital/io/src/gutter.fsm9
1 files changed, 8 insertions, 1 deletions
diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm
index 966ee8f0..97163cc0 100644
--- a/digital/io/src/gutter.fsm
+++ b/digital/io/src/gutter.fsm
@@ -11,6 +11,8 @@ States:
make the bot reversing against the gutter
DROP_BALLS
open the collector to let the balls fall into the gutter
+ WAIT_AND_TRY_AGAIN
+ ask the top FSM to wake us up in a few times
Events:
start
@@ -38,9 +40,14 @@ GO_TO_THE_GUTTER_WALL:
# preventing from fucking the wall
# The best way is probably to abort this FSM with an error, tell the upper one
# (top) we need to try at another place (the gutter is quite long).
-# bot_move_failed
+ bot_move_failed -> WAIT_AND_TRY_AGAIN
+ ask the top FSM to wake us up in a few times
DROP_BALLS:
wait_finished -> IDLE
close the rear panel
tell the top FSM we have finished
+
+WAIT_AND_TRY_AGAIN:
+ wait_finished -> GO_TO_THE_GUTTER_WALL
+ try the fuck the wall again