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-rw-r--r--digital/io/src/move.fsm11
1 files changed, 5 insertions, 6 deletions
diff --git a/digital/io/src/move.fsm b/digital/io/src/move.fsm
index cbe38ba9..d7e175a4 100644
--- a/digital/io/src/move.fsm
+++ b/digital/io/src/move.fsm
@@ -2,24 +2,23 @@
move
States:
- START
- END
+ IDLE
DESIRED_POSITION
MOVE_ON_LEFT
MOVE_ON_RIGHT
Events:
- ok
+ start
reached
failed_or_blocked_or_near_border
failed_or_blocked
-START:
- ok -> DESIRED_POSITION
+IDLE:
+ start -> DESIRED_POSITION
Tries to reach a position provided by the user. If the position desired can not be reached, it all try to move on the right or the left.
DESIRED_POSITION:
- reached -> END
+ reached -> IDLE
The position provided by the user has been reached, the FSM can stop.
failed_or_blocked: near_right_border -> MOVE_ON_LEFT
The robot has failed to reach the position. It shall try another position before trying to reach this one again. It shall go to the on the left only if the left border is the farest one.