From 26405c3578bfc4877f250ef10190693e7e09df76 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Thu, 1 May 2008 15:41:42 +0200 Subject: * digital/io/src - add a state to go backward a litte bit after approaching a distributor to ease the get samples. --- digital/io/src/getsamples.fsm | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'digital/io/src/getsamples.fsm') diff --git a/digital/io/src/getsamples.fsm b/digital/io/src/getsamples.fsm index 1fdfaa98..2f495626 100644 --- a/digital/io/src/getsamples.fsm +++ b/digital/io/src/getsamples.fsm @@ -23,6 +23,8 @@ States: move the bot away from the distributor by going backward CLOSE_INPUT_HOLE put the arm back in front of the input hole to prevent sample to enter + MOVE_BACKWARD_FROM_DISTRIBUTOR + move a little bit backward from the distributor Events: start @@ -51,6 +53,10 @@ OPEN_INPUT_HOLE: start approaching the distributor now APPROACH_DISTRIBUTOR: + bot_move_succeed -> MOVE_BACKWARD_FROM_DISTRIBUTOR + move a little bit backward from the distributor + +MOVE_BACKWARD_FROM_DISTRIBUTOR: bot_move_succeed -> TAKE_SAMPLES start taking some samples -- cgit v1.2.3