From f416af1eeed92e9508744544e39983af82479965 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 18 May 2009 22:29:25 +0200 Subject: * digital/io/src: - fix event sent to the wrong FSM, - start top FSM, - rewrite event generated by move FSM when its finished, - init FSM generates an event when the match start, - init FSM starts the chrono when the match start, - top FSM now uses the event generated by the init FSM to know when the match start and not the jack states. --- digital/io/src/init.fsm | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) (limited to 'digital/io/src/init.fsm') diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm index 72db9a6f..89ec26e6 100644 --- a/digital/io/src/init.fsm +++ b/digital/io/src/init.fsm @@ -41,6 +41,8 @@ States: go backward from the wall for a specific distance. GO_TO_START_POSITION go to the start position. + WAIT_SECOND_JACK_OUT + wait the jack to be removed from the bot for the second time. Events: start @@ -114,6 +116,11 @@ GO_AWAY_FROM_THE_WALL_AGAIN: go to the start position with a go to movement. GO_TO_START_POSITION: - bot_move_succeed -> IDLE + bot_move_succeed -> WAIT_SECOND_JACK_OUT nothing to do, the bot is at the start position. +WAIT_SECOND_JACK_OUT: + jack_removed_from_bot -> IDLE + tell other FSM the match begins. + start the chrono. + -- cgit v1.2.3