From 6efb5213ba0113e92f168156c80cd748aea53745 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Tue, 4 May 2010 02:25:27 +0200 Subject: digital/io/src: first element pickup --- digital/io/src/loader.fsm | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) (limited to 'digital/io/src/loader.fsm') diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm index 05918468..747bb51e 100644 --- a/digital/io/src/loader.fsm +++ b/digital/io/src/loader.fsm @@ -27,6 +27,12 @@ States: moving to the down position LOADER_ERROR error while moving up, stop in an unknown state + LOADER_LOAD_CLOSING + close clamp + LOADER_LOAD_UPING + move load up to the unload position + LOADER_LOAD_UNLOADING + open clamp to unload Events: elevator_succeed @@ -35,6 +41,8 @@ Events: asserv failure result clamp_succeed asserv success result, clamp movement cannot fail + loader_element + element sensed between clamp to be loaded loader_down make the loader ready to load an element loader_up @@ -80,6 +88,8 @@ LOADER_UP: LOADER_DOWN: loader_up -> LOADER_UPING move up + loader_element -> LOADER_LOAD_CLOSING + close clamp LOADER_ERROR: loader_down -> LOADER_DOWNING @@ -99,3 +109,15 @@ LOADER_UPING: elevator_failed -> LOADER_ERROR post loader_errored event +LOADER_LOAD_CLOSING: + clamp_succeed -> LOADER_LOAD_UPING + move up + +LOADER_LOAD_UPING: + elevator_succeed -> LOADER_LOAD_UNLOADING + open clamp + +LOADER_LOAD_UNLOADING: + clamp_succeed -> LOADER_DOWNING + move down + -- cgit v1.2.3