From 6fe853aa2498e51142c4e6d799f9951a41c456d3 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sat, 16 May 2009 21:02:59 +0200 Subject: * digital/io/src: - use timeout in init FSM rather than using main and a timer, - use the macro to compute angle and Y position by using the color contact, - use relative rotation rather than absolute, - set position before last rotation, - do some cleaning. --- digital/io/src/init.fsm | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) (limited to 'digital/io/src/init.fsm') diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm index fda5247a..8b9aa4dc 100644 --- a/digital/io/src/init.fsm +++ b/digital/io/src/init.fsm @@ -9,7 +9,7 @@ States: waiting for the beginning of the top FSM WAIT_JACK_IN waiting for the jack to be inserted into the bot - WAIT_2_SEC + WAIT_2_SEC [timeout=450] waiting for operator's hand not on jack anymore GOTO_THE_WALL go to the wall for the first time @@ -31,8 +31,6 @@ Events: initialize the FSM jack_inserted_into_bot the jack is inserted into the bot - init_tempo_ended - the tempo is finished move_done the move is finished state_timeout @@ -46,7 +44,7 @@ WAIT_JACK_IN: wait for the operator hand disappears WAIT_2_SEC: - init_tempo_ended -> GOTO_THE_WALL + state_timeout -> GOTO_THE_WALL go to the first wall GOTO_THE_WALL: @@ -66,9 +64,9 @@ GOTO_THE_WALL_AGAIN: go backward for INIT_DIST millimeters again GO_BACKWARD_AGAIN: - move_done -> TURN_180_DEGREES_CCW - turn bot for 180 degrees counterclockwise - -TURN_180_DEGREES_CCW: move_done -> SET_POSITION set real position to asserv + +SET_POSITION: + move_done -> TURN_90_DEGREES_CCW + turn bot for 180 degrees counterclockwise -- cgit v1.2.3