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-rw-r--r--digital/io/src/top.fsm23
1 files changed, 15 insertions, 8 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index 24a3b1fd..5a8e78b1 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -16,8 +16,9 @@ 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
+ MOVE_AWAY_FROM_START_BORDER
+ move the bot away from the border of the start point 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
@@ -35,6 +36,8 @@ States:
DROP_OFF_BALLS_TO_GUTTER
drop all the balls contained in the bot into the gutter (using the gutter
FSM)
+ MOVE_AWAY_FROM_GUTTER_BORDER
+ move the bot away from the border of the gutter to be able to turn freely
Events:
start
@@ -67,10 +70,10 @@ WAIT_JACK_OUT:
set the settings of the asserv board (especially the position)
CONFIGURE_ASSERV:
- settings_acknowledged -> MOVE_AWAY_FROM_BORDER
+ settings_acknowledged -> MOVE_AWAY_FROM_START_BORDER
move the bot away from the border to be able to turn freely
-MOVE_AWAY_FROM_BORDER:
+MOVE_AWAY_FROM_START_BORDER:
move_fsm_finished -> GO_TO_SAMPLE_DISTRIBUTOR
order the bot to move to our samples distributors with the move FSM
@@ -101,10 +104,9 @@ GO_TO_GUTTER:
FSM
DROP_OFF_BALLS_TO_GUTTER:
- gutter_fsm_finished -> GO_TO_SAMPLE_DISTRIBUTOR
- we have finished to drop off all the balls, let's go to our sample
- ditributor to try the same strategy again
- reset internal data
+ gutter_fsm_finished -> MOVE_AWAY_FROM_GUTTER_BORDER
+ we have finished to drop off all the balls, let's move away from the gutter
+ to move freely
GO_TO_ADVERSE_ICE_DISTRIBUTOR:
move_fsm_finished -> GET_ICE_FROM_ADVERSE_ICE_DISTRIBUTOR
@@ -115,3 +117,8 @@ GET_ICE_FROM_ADVERSE_ICE_DISTRIBUTOR:
get_samples_fsm_finished -> GO_TO_GUTTER
we have finished to get ice. Even if we are not full, let's go to the gutter
with the move FSM
+
+MOVE_AWAY_FROM_GUTTER_BORDER:
+ move_fsm_finished -> GO_TO_SAMPLE_DISTRIBUTOR
+ go to our sample ditributor to try the same strategy again
+ reset internal data