From 0968f4428bd842b06b4218741b7a70f83f9517a4 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Sun, 30 Mar 2008 20:45:33 +0200 Subject: Moved teh getsamples fsm. --- digital/io/src/getsamples/getSamplesFsm.fsm | 47 ----------------------------- 1 file changed, 47 deletions(-) delete mode 100644 digital/io/src/getsamples/getSamplesFsm.fsm (limited to 'digital/io/src/getsamples/getSamplesFsm.fsm') diff --git a/digital/io/src/getsamples/getSamplesFsm.fsm b/digital/io/src/getsamples/getSamplesFsm.fsm deleted file mode 100644 index 3f7266d0..00000000 --- a/digital/io/src/getsamples/getSamplesFsm.fsm +++ /dev/null @@ -1,47 +0,0 @@ -#FSM get samples -get_samples - -States: - START - GO_TO_POSITION - PREPARE_ARM - FORWARD_CONTROL - TAKE_SAMPLES - BACKWARD - END - -Events: - ok - position_reached - position_failed - arm_moved - sample_took - classifier_ready - -START: - ok -> GO_TO_POSITION - Go to the distributor. The distributor to reach shall be setted in the fsm structure. - -GO_TO_POSITION: - position_reached -> PREPARE_ARM - Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor. - position_failed -> GO_TO_POSITION - Go to another point before trying to go to this one again. - -PREPARE_ARM: - arm_moved -> FORWARD_CONTROL - Prepare the arm to the correct position. - -FORWARD_CONTROL: - position_reached -> TAKE_SAMPLES - End the position to the distributor. - -TAKE_SAMPLES: - sample_took: more -> . - Continue to take samples and classify the next sample. - sample_took: no_more -> BACKWARD - If the quantity of samples are tooked, then go backeward and conitnue classifying the samples. - -BACKWARD: - position_reached -> END - Ending this state machine. -- cgit v1.2.3