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-rw-r--r--digital/io/src/top.fsm16
1 files changed, 16 insertions, 0 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index 9a61d00c..7c7087f5 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -13,6 +13,8 @@ States:
first sequence, go to end of line
FIRST_GO_END_OF_LINE_SLOW
slow down to take elements
+ FIRST_GO_END_OF_LINE_UNBLOCKING
+ unblock problem with loader, go backward
UNLOAD_LOADER_UP
move loader to up position
UNLOAD_FACE_BIN
@@ -71,12 +73,26 @@ FIRST_GO_END_OF_LINE_FAST:
move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW
set slow speed
retry
+ loader_errored -> FIRST_GO_END_OF_LINE_UNBLOCKING
+ move backward
+ move loader down
FIRST_GO_END_OF_LINE_SLOW:
move_fsm_succeed -> UNLOAD_LOADER_UP
move loader up
move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW
retry
+ loader_errored -> FIRST_GO_END_OF_LINE_UNBLOCKING
+ move backward
+ move loader down
+
+FIRST_GO_END_OF_LINE_UNBLOCKING:
+ bot_move_succeed -> FIRST_GO_END_OF_LINE_SLOW
+ retry
+ bot_move_failed -> FIRST_GO_END_OF_LINE_SLOW
+ retry
+ loader_errored -> .
+ unblock again
UNLOAD_LOADER_UP:
loader_uped -> UNLOAD_FACE_BIN