summaryrefslogtreecommitdiffhomepage
path: root/digital/io/src/top.fsm
diff options
context:
space:
mode:
Diffstat (limited to 'digital/io/src/top.fsm')
-rw-r--r--digital/io/src/top.fsm13
1 files changed, 10 insertions, 3 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index eed38367..2a9ad8e4 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -14,6 +14,8 @@ States:
waiting for the jack to be inserted into the bot
WAIT_JACK_OUT
waiting for the jack to be removed from the bot
+ CONFIGURE_ASSERV
+ configuring the asserv board
GO_TO_SAMPLE_DISTRIBUTOR
go to our distributor of samples (using the move FSM)
GO_TO_OUR_ICE_DISTRIBUTOR
@@ -45,6 +47,8 @@ Events:
the jack is inserted into the bot
jack_removed_from_bot
the jack is removed from the bot
+ settings_acknowledged
+ the asserv board has acknowledged the settings sent
IDLE:
start -> WAIT_JACK_IN
@@ -57,10 +61,13 @@ WAIT_JACK_IN:
bot
WAIT_JACK_OUT:
- jack_removed_from_bot -> GO_TO_SAMPLE_DISTRIBUTOR
+ jack_removed_from_bot -> CONFIGURE_ASSERV
the match start, start the chronometer
- we should also initialize all the subsystems of IO (reset position, get our
- color, ...)
+ we should also initialize all the subsystems of IO (get our color, ...)
+ set the settings of the asserv board (especially the position)
+
+CONFIGURE_ASSERV:
+ settings_acknowledged -> GO_TO_SAMPLE_DISTRIBUTOR
order the bot to move to our samples distributors with the move FSM
GO_TO_SAMPLE_DISTRIBUTOR: