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-rw-r--r--digital/io/src/loader.fsm11
1 files changed, 9 insertions, 2 deletions
diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm
index 747bb51e..4ffafd26 100644
--- a/digital/io/src/loader.fsm
+++ b/digital/io/src/loader.fsm
@@ -33,6 +33,8 @@ States:
move load up to the unload position
LOADER_LOAD_UNLOADING
open clamp to unload
+ LOADER_LOAD_EMPTY_OPEN
+ open clamp due to no elements to pick
Events:
elevator_succeed
@@ -89,7 +91,7 @@ LOADER_DOWN:
loader_up -> LOADER_UPING
move up
loader_element -> LOADER_LOAD_CLOSING
- close clamp
+ clamp
LOADER_ERROR:
loader_down -> LOADER_DOWNING
@@ -110,8 +112,10 @@ LOADER_UPING:
post loader_errored event
LOADER_LOAD_CLOSING:
- clamp_succeed -> LOADER_LOAD_UPING
+ clamp_succeed: full -> LOADER_LOAD_UPING
move up
+ clamp_succeed: empty -> LOADER_LOAD_EMPTY_OPEN
+ open clamp
LOADER_LOAD_UPING:
elevator_succeed -> LOADER_LOAD_UNLOADING
@@ -121,3 +125,6 @@ LOADER_LOAD_UNLOADING:
clamp_succeed -> LOADER_DOWNING
move down
+LOADER_LOAD_EMPTY_OPEN:
+ clamp_succeed -> LOADER_DOWN
+