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-rw-r--r--digital/io/src/top.fsm16
1 files changed, 11 insertions, 5 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index 7c7087f5..9a6b176c 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_UP
+ unblock problem with loader, move loader up
FIRST_GO_END_OF_LINE_UNBLOCKING
unblock problem with loader, go backward
UNLOAD_LOADER_UP
@@ -73,23 +75,27 @@ 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
+ loader_errored -> FIRST_GO_END_OF_LINE_UNBLOCKING_UP
+ same as below
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
+ loader_errored -> FIRST_GO_END_OF_LINE_UNBLOCKING_UP
move backward
- move loader down
+ loader up
+
+FIRST_GO_END_OF_LINE_UNBLOCKING_UP:
+ loader_uped -> FIRST_GO_END_OF_LINE_UNBLOCKING
FIRST_GO_END_OF_LINE_UNBLOCKING:
bot_move_succeed -> FIRST_GO_END_OF_LINE_SLOW
+ move loader down
retry
bot_move_failed -> FIRST_GO_END_OF_LINE_SLOW
+ move loader down
retry
loader_errored -> .
unblock again