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-rw-r--r--digital/io/src/gutter.fsm26
1 files changed, 8 insertions, 18 deletions
diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm
index 6faa340d..906feaf9 100644
--- a/digital/io/src/gutter.fsm
+++ b/digital/io/src/gutter.fsm
@@ -2,33 +2,23 @@
gutter
States:
- START
- GO_TO_GUTTER
+ IDLE
OPEN_COLLECTOR
CLOSE_COLLECTOR
- END
Events:
- ok
- position_reached
- position_failed
+ start
collector_opened
collector_closed
-START:
- ok -> GO_TO_GUTTER
- Go to the gutter.
-
-GO_TO_GUTTER:
- position_reached -> OPEN_COLLECTOR
- The robo is near the gutter and the door can be opened.
- position_failed -> .
- The position failed, shall try another path.
+IDLE:
+ start -> OPEN_COLLECTOR
+ Open the collector and wait for a while.
OPEN_COLLECTOR:
collector_opened -> CLOSE_COLLECTOR
- Wait some time and clse the door.
+ Close the rear panel.
CLOSE_COLLECTOR:
- collector_closed-> END
- The samples has been inserted in the gutter.
+ collector_closed-> IDLE
+ The samples has been inserted in the gutter. Go to the idle state.