From 787f9cdd49464345c896d2445ab82314cec5c4a6 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Fri, 4 Apr 2008 22:54:09 +0200 Subject: Update the fsm for the movement. --- digital/io/doc/move.dot | 21 ++++++++++----------- 1 file changed, 10 insertions(+), 11 deletions(-) (limited to 'digital/io/doc') diff --git a/digital/io/doc/move.dot b/digital/io/doc/move.dot index dd92d6de..21f03398 100644 --- a/digital/io/doc/move.dot +++ b/digital/io/doc/move.dot @@ -3,18 +3,17 @@ digraph move { - start -> "go_to_position" [label ="ok"]; - "go_to_position" -> end [label = "reached"]; + start -> "desired position" [label = "ok"]; + "desired position" -> end [label = "reached"]; + "desired position" -> "move on left" [label = "failed or blocked\n border left is far"]; + "desired position" -> "move on right" [label = "failed or blocked\n border right is far"]; - "go_to_position" -> "failed \n or \n blocked"; - "failed \n or \n blocked" -> "move_on_left" [label = "Far from left boarder"]; - "failed \n or \n blocked" -> "move_on_right" [label = "Far from right boarder"]; + "move on left" -> "move on left" [label = "failed or blocked"]; + "move on left" -> "desired position" [label = "reached"]; - "move_on_right" -> "go_to_position" [label = "reached"] - "move_on_right" -> "failed \n or \n blocked"; - "move_on_right" -> "move_on_left" [label = "fail || block \n&&\n near border"]; + "move on right" -> "move on right" [label = "failed or blocked"]; + "move on right" -> "desired position" [label = "reached"]; - "move_on_left" -> "go_to_position" [label = "reached"] - "move_on_left" -> "failed \n or \n blocked"; - "move_on_left" -> "move_on_right" [label = "fail || block \n&&\n near border"]; + "move on right" -> "move on left" [label = "near right border"]; + "move on left" -> "move on right" [label = "near left border"]; } -- cgit v1.2.3