From 79456a7d1b2116fc8f50b82bd73b877cf8ef1bdf Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Fri, 8 May 2009 10:13:09 +0200 Subject: * digital/io/src: - removed old FSM (gutter and getsamples) --- digital/io/src/gutter.fsm | 53 ----------------------------------------------- 1 file changed, 53 deletions(-) delete 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 deleted file mode 100644 index 97163cc0..00000000 --- a/digital/io/src/gutter.fsm +++ /dev/null @@ -1,53 +0,0 @@ -# Gutter FSM -# Drop balls from the inside of the bot into the gutter to score points. -gutter - -States: - IDLE - waiting for the beginning of the gutter FSM - ROTATE_REAR_SIDE_TO_GUTTER - stand back to the gutter - GO_TO_THE_GUTTER_WALL - make the bot reversing against the gutter - DROP_BALLS - open the collector to let the balls fall into the gutter - WAIT_AND_TRY_AGAIN - ask the top FSM to wake us up in a few times - -Events: - start - initialize the FSM - bot_move_succeed - the bot has finished to moved successfully - bot_move_failed - the bot movement failed (blocked by something for example) - wait_finished - we have wait the desired time - -IDLE: - start -> ROTATE_REAR_SIDE_TO_GUTTER - put the bot back to the gutter - -ROTATE_REAR_SIDE_TO_GUTTER: - bot_move_succeed -> GO_TO_THE_GUTTER_WALL - make the bot reversing against the gutter - -GO_TO_THE_GUTTER_WALL: - bot_move_succeed -> DROP_BALLS - open the collector to drop the balls - wait for a while -# TODO: handle the case where a ball is between the bot and the border, -# preventing from fucking the wall -# The best way is probably to abort this FSM with an error, tell the upper one -# (top) we need to try at another place (the gutter is quite long). - bot_move_failed -> WAIT_AND_TRY_AGAIN - ask the top FSM to wake us up in a few times - -DROP_BALLS: - wait_finished -> IDLE - close the rear panel - tell the top FSM we have finished - -WAIT_AND_TRY_AGAIN: - wait_finished -> GO_TO_THE_GUTTER_WALL - try the fuck the wall again -- cgit v1.2.3