From 3a54854defda7b59411b691e0fc0f074edb6e88e Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Thu, 17 Apr 2008 23:34:13 +0200 Subject: Update the gutter FSM to only eject the balls from the robot. --- digital/io/src/gutter.fsm | 26 ++++++++------------------ 1 file changed, 8 insertions(+), 18 deletions(-) (limited to 'digital/io/src/gutter.fsm') diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm index 6faa340d..906feaf9 100644 --- a/digital/io/src/gutter.fsm +++ b/digital/io/src/gutter.fsm @@ -2,33 +2,23 @@ gutter States: - START - GO_TO_GUTTER + IDLE OPEN_COLLECTOR CLOSE_COLLECTOR - END Events: - ok - position_reached - position_failed + start 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. +IDLE: + start -> OPEN_COLLECTOR + Open the collector and wait for a while. OPEN_COLLECTOR: collector_opened -> CLOSE_COLLECTOR - Wait some time and clse the door. + Close the rear panel. CLOSE_COLLECTOR: - collector_closed-> END - The samples has been inserted in the gutter. + collector_closed-> IDLE + The samples has been inserted in the gutter. Go to the idle state. -- cgit v1.2.3