From 5c206451fabc49b614b09f416b373288f3cfe39d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Mon, 10 May 2010 23:54:29 +0200 Subject: digital/io/src: handle empty clamp --- 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 747bb51e..4ffafd26 100644 --- a/digital/io/src/loader.fsm +++ b/digital/io/src/loader.fsm @@ -33,6 +33,8 @@ States: move load up to the unload position LOADER_LOAD_UNLOADING open clamp to unload + LOADER_LOAD_EMPTY_OPEN + open clamp due to no elements to pick Events: elevator_succeed @@ -89,7 +91,7 @@ LOADER_DOWN: loader_up -> LOADER_UPING move up loader_element -> LOADER_LOAD_CLOSING - close clamp + clamp LOADER_ERROR: loader_down -> LOADER_DOWNING @@ -110,8 +112,10 @@ LOADER_UPING: post loader_errored event LOADER_LOAD_CLOSING: - clamp_succeed -> LOADER_LOAD_UPING + clamp_succeed: full -> LOADER_LOAD_UPING move up + clamp_succeed: empty -> LOADER_LOAD_EMPTY_OPEN + open clamp LOADER_LOAD_UPING: elevator_succeed -> LOADER_LOAD_UNLOADING @@ -121,3 +125,6 @@ LOADER_LOAD_UNLOADING: clamp_succeed -> LOADER_DOWNING move down +LOADER_LOAD_EMPTY_OPEN: + clamp_succeed -> LOADER_DOWN + -- cgit v1.2.3