From 20bbd9db488c56bfc2195865ec2b5c77fa024dbd Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Sun, 30 Mar 2008 20:53:54 +0200 Subject: Moved the gutter fsm to the io/directory. --- digital/io/src/gutter.fsm | 34 ++++++++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 digital/io/src/gutter.fsm (limited to 'digital/io/src/gutter.fsm') diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm new file mode 100644 index 00000000..158c8d13 --- /dev/null +++ b/digital/io/src/gutter.fsm @@ -0,0 +1,34 @@ +#FSM get samples +get_samples + +States: + START + GO_TO_GUTTER + OPEN_COLLECTOR + CLOSE_COLLECTOR + END + +Events: + ok + position_reached + position_failed + collector_opened + collector_closed + +START: + ok -> GO_TO_GUTTER + Go to the gutter. + +GO_TO_GUTTER: + position_reached -> OPEN_COLLECTOR + The robo is near the gutter and the door can be opened. + position_failed -> . + The position failed, shall try another path. + +OPEN_COLLECTOR: + collector_opened -> CLOSE_COLLECTOR + Wait some time and clse the door. + +CLOSE_COLLECTOR: + collector_closed-> END + The samples has been inserted in the gutter. -- cgit v1.2.3