From 7f4655ebc5807a23782fc3efc1a722217a0081d4 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sat, 15 May 2010 23:02:00 +0200 Subject: digital/io/src: add hola code --- digital/io/src/hola.fsm | 59 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 59 insertions(+) create mode 100644 digital/io/src/hola.fsm (limited to 'digital/io/src/hola.fsm') diff --git a/digital/io/src/hola.fsm b/digital/io/src/hola.fsm new file mode 100644 index 00000000..ca219491 --- /dev/null +++ b/digital/io/src/hola.fsm @@ -0,0 +1,59 @@ +# Hola FSM +hola + entertain people + +States: + *HOLA_IDLE + waiting start + HOLA_WAIT_HOLA + wait hola signal + HOLA_WAIT_JACK_IN + wait until the jack is inserted for the first time + HOLA_WAIT_JACK_OUT + wait until the jack is removed to initialise robot + HOLA_ROUNDS + moving clamps in rounds + HOLA_UP + moving clamp up + HOLA_CENTER + HOLA_CLAP_CLOSE + HOLA_CLAP_OPEN + +Events: + hola_start + start hola + +HOLA_IDLE: + start -> HOLA_WAIT_HOLA + +HOLA_WAIT_HOLA: + hola_start -> HOLA_WAIT_JACK_IN + +HOLA_WAIT_JACK_IN: + jack_inserted_into_bot -> HOLA_WAIT_JACK_OUT + +HOLA_WAIT_JACK_OUT: + jack_removed_from_bot -> HOLA_ROUNDS + +HOLA_ROUNDS: + asserv_last_cmd_ack: no_timeout -> . + move clamp rounds + asserv_last_cmd_ack: timeout -> HOLA_UP + move up + rotate + +HOLA_UP: + bot_move_succeed -> HOLA_CENTER + rotate to center + +HOLA_CENTER: + bot_move_succeed -> HOLA_CLAP_CLOSE + close clamp + +HOLA_CLAP_CLOSE: + clamp_succeed -> HOLA_CLAP_OPEN + open clamp + +HOLA_CLAP_OPEN: + clamp_succeed -> HOLA_CLAP_CLOSE + close clamp -- cgit v1.2.3