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-rw-r--r--digital/io/src/top.fsm8
1 files changed, 7 insertions, 1 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index 2a9ad8e4..cf125bb3 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -16,6 +16,8 @@ States:
waiting for the jack to be removed from the bot
CONFIGURE_ASSERV
configuring the asserv board
+ MOVE_AWAY_FROM_BORDER
+ move the bot away from the border to be able to turn freely
GO_TO_SAMPLE_DISTRIBUTOR
go to our distributor of samples (using the move FSM)
GO_TO_OUR_ICE_DISTRIBUTOR
@@ -67,7 +69,11 @@ WAIT_JACK_OUT:
set the settings of the asserv board (especially the position)
CONFIGURE_ASSERV:
- settings_acknowledged -> GO_TO_SAMPLE_DISTRIBUTOR
+ settings_acknowledged -> MOVE_AWAY_FROM_BORDER
+ move the bot away from the border to be able to turn freely
+
+MOVE_AWAY_FROM_BORDER:
+ move_fsm_finished -> GO_TO_SAMPLE_DISTRIBUTOR
order the bot to move to our samples distributors with the move FSM
GO_TO_SAMPLE_DISTRIBUTOR: