From 0b7b203b4d6cc0e8efaadee8c1ad051276d0b3c8 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 23:55:18 +0200 Subject: digital/io/src: move clamp all the way up --- digital/io/src/loader.fsm | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) (limited to 'digital/io/src/loader.fsm') diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm index 4ffafd26..c97941b9 100644 --- a/digital/io/src/loader.fsm +++ b/digital/io/src/loader.fsm @@ -32,7 +32,9 @@ States: LOADER_LOAD_UPING move load up to the unload position LOADER_LOAD_UNLOADING - open clamp to unload + open clamp to unload, wait until unload position + LOADER_LOAD_UNLOADING_OPEN + check clamp is open LOADER_LOAD_EMPTY_OPEN open clamp due to no elements to pick @@ -41,6 +43,8 @@ Events: asserv success result elevator_failed asserv failure result + elevator_unload_position + elevator above unloading position clamp_succeed asserv success result, clamp movement cannot fail loader_element @@ -118,10 +122,13 @@ LOADER_LOAD_CLOSING: open clamp LOADER_LOAD_UPING: - elevator_succeed -> LOADER_LOAD_UNLOADING + elevator_unload_position -> LOADER_LOAD_UNLOADING open clamp LOADER_LOAD_UNLOADING: + elevator_succeed -> LOADER_LOAD_UNLOADING_OPEN + +LOADER_LOAD_UNLOADING_OPEN: clamp_succeed -> LOADER_DOWNING move down -- cgit v1.2.3