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-rw-r--r--digital/io/src/top.fsm12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index 5801932e..c33923f6 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -27,6 +27,8 @@ States:
collecting elements
COLLECT_SLOW_MOTION
slowly move toward element to collect
+ COLLECT_BLACK
+ moving backward after trying to collect a black corn
Events:
start
@@ -129,3 +131,13 @@ COLLECT_SLOW_MOTION:
bot_move_failed: unload -> UNLOAD
bot_move_failed: collect -> COLLECT
same as above
+ loader_black -> COLLECT_BLACK
+ speed up
+ move backward
+ mark as black
+
+COLLECT_BLACK:
+ bot_move_succeed: unload -> UNLOAD
+ bot_move_succeed: collect -> COLLECT
+ bot_move_failed: unload -> UNLOAD
+ bot_move_failed: collect -> COLLECT