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-rw-r--r--digital/io/src/init.fsm9
1 files changed, 8 insertions, 1 deletions
diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm
index 72db9a6f..89ec26e6 100644
--- a/digital/io/src/init.fsm
+++ b/digital/io/src/init.fsm
@@ -41,6 +41,8 @@ States:
go backward from the wall for a specific distance.
GO_TO_START_POSITION
go to the start position.
+ WAIT_SECOND_JACK_OUT
+ wait the jack to be removed from the bot for the second time.
Events:
start
@@ -114,6 +116,11 @@ GO_AWAY_FROM_THE_WALL_AGAIN:
go to the start position with a go to movement.
GO_TO_START_POSITION:
- bot_move_succeed -> IDLE
+ bot_move_succeed -> WAIT_SECOND_JACK_OUT
nothing to do, the bot is at the start position.
+WAIT_SECOND_JACK_OUT:
+ jack_removed_from_bot -> IDLE
+ tell other FSM the match begins.
+ start the chrono.
+