From 276f7610f1a44b065407fa276dfeee970034aa7d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 2 May 2010 10:08:55 +0200 Subject: digital/io/src: add loader FSM --- digital/io/src/loader.fsm | 41 +++++++++++++++++++++++++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 digital/io/src/loader.fsm (limited to 'digital/io/src/loader.fsm') diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm new file mode 100644 index 00000000..c89e8931 --- /dev/null +++ b/digital/io/src/loader.fsm @@ -0,0 +1,41 @@ +# loader FSM +loader + Handle Eurobot 2010 robot clamp, elevator and output door. + +States: + *LOADER_IDLE + wait start + LOADER_WAIT_JACK_IN + wait until the jack is inserted for the first time + LOADER_WAIT_JACK_OUT + wait until the jack is removed to initialise robot + LOADER_INIT_ELEVATOR_ZERO + move the elevator down to find zero position + LOADER_INIT_ELEVATOR_UP + move the elevator up so that the robot can go to the wall + +Events: + elevator_succeed + asserv success result + elevator_failed + asserv failure result + +LOADER_IDLE: + start -> LOADER_WAIT_JACK_IN + +LOADER_WAIT_JACK_IN: + jack_inserted_into_bot -> LOADER_WAIT_JACK_OUT + +LOADER_WAIT_JACK_OUT: + jack_removed_from_bot -> LOADER_INIT_ELEVATOR_ZERO + find elevator zero + +LOADER_INIT_ELEVATOR_ZERO: + elevator_succeed -> LOADER_INIT_ELEVATOR_UP + move elevator up + +LOADER_INIT_ELEVATOR_UP: + elevator_succeed -> LOADER_IDLE + elevator_failed -> LOADER_IDLE + initialisation failure + -- cgit v1.2.3