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-rw-r--r--digital/io/src/init.fsm22
1 files changed, 5 insertions, 17 deletions
diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm
index 86c08610..f780ba45 100644
--- a/digital/io/src/init.fsm
+++ b/digital/io/src/init.fsm
@@ -19,15 +19,13 @@ States:
wait the jack to be removed from the bot for the first time.
INIT_WAIT_SECOND_JACK_IN
wait for the jack to be inserted into the bot for the second time.
- INIT_WAIT_FOR_HANDS_OUT[timeout=450]
+ INIT_WAIT_FOR_HANDS_OUT[timeout=225]
just wait for operator hands to be removed from the jack.
INIT_GO_TO_THE_WALL
go to the wall for the first time.
- INIT_SET_Y_POSITION
+ INIT_GO_AWAY_FROM_THE_WALL
reset the Y position of the bot.
- INIT_SET_ANGULAR_POSITION
reset the angular position of the bot.
- INIT_GO_AWAY_FROM_THE_WALL
go backward from the wall for a specific distance.
INIT_FACE_OTHER_WALL
make the bot face the other wall.
@@ -35,9 +33,8 @@ States:
make sure rotation is really finished before continuing.
INIT_GO_TO_THE_WALL_AGAIN
go to the wall for the second time.
- INIT_SET_X_POSITION
- reset the X position of the bot.
INIT_GO_AWAY_FROM_THE_WALL_AGAIN
+ reset the X position of the bot.
go backward from the wall for a specific distance.
INIT_GO_TO_START_POSITION
go to the start position.
@@ -72,15 +69,9 @@ INIT_WAIT_FOR_HANDS_OUT:
fuck the wall in front.
INIT_GO_TO_THE_WALL:
- bot_move_succeed -> INIT_SET_Y_POSITION
+ bot_move_succeed -> INIT_GO_AWAY_FROM_THE_WALL
reset the Y position of the bot.
-
-INIT_SET_Y_POSITION:
- asserv_last_cmd_ack -> INIT_SET_ANGULAR_POSITION
reset the angular position of the bot.
-
-INIT_SET_ANGULAR_POSITION:
- asserv_last_cmd_ack -> INIT_GO_AWAY_FROM_THE_WALL
move away from the wall (linear move).
INIT_GO_AWAY_FROM_THE_WALL:
@@ -96,11 +87,8 @@ INIT_WAIT_AFTER_ROTATION:
fuck the wall in front.
INIT_GO_TO_THE_WALL_AGAIN:
- bot_move_succeed -> INIT_SET_X_POSITION
+ bot_move_succeed -> INIT_GO_AWAY_FROM_THE_WALL_AGAIN
reset the X position of the bot.
-
-INIT_SET_X_POSITION:
- asserv_last_cmd_ack -> INIT_GO_AWAY_FROM_THE_WALL_AGAIN
move away from the wall (linear move).
INIT_GO_AWAY_FROM_THE_WALL_AGAIN: