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-rw-r--r--digital/io/src/loader.fsm12
1 files changed, 10 insertions, 2 deletions
diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm
index 92c0d839..e830def9 100644
--- a/digital/io/src/loader.fsm
+++ b/digital/io/src/loader.fsm
@@ -161,12 +161,16 @@ LOADER_DOWNING:
post loader_downed event
elevator_failed -> LOADER_ERROR
post loader_errored event
+ loader_up -> LOADER_UPING
+ move up
LOADER_UPING:
elevator_succeed -> LOADER_UP
post loader_uped event
elevator_failed -> LOADER_ERROR
post loader_errored event
+ loader_down -> LOADER_DOWNING
+ move down
LOADER_LOAD_CLOSING:
clamp_succeed: full -> LOADER_LOAD_UPING
@@ -187,9 +191,13 @@ LOADER_LOAD_UNLOADING:
post loader_errored event
LOADER_LOAD_UNLOADING_OPEN:
- clamp_succeed -> LOADER_DOWNING
+ clamp_succeed: down -> LOADER_DOWNING
move down
+ clamp_succeed: up -> LOADER_UPING
+ move up
LOADER_LOAD_EMPTY_OPEN:
- clamp_succeed -> LOADER_DOWN
+ clamp_succeed: down -> LOADER_DOWN
+ clamp_succeed: up -> LOADER_UPING
+ move up