From 503e3511b2fa42263749c62a9625e6549ac2fe2d Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Wed, 20 May 2009 19:22:02 +0200 Subject: * digital/io/src: - support backward parameter for the asserv_goto, - enhance to avoid static obstacle, - add center circle of the playground table. --- digital/io/src/move.fsm | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'digital/io/src/move.fsm') diff --git a/digital/io/src/move.fsm b/digital/io/src/move.fsm index 581378ed..f5a56253 100644 --- a/digital/io/src/move.fsm +++ b/digital/io/src/move.fsm @@ -30,7 +30,9 @@ Events: state_timeout IDLE: - start -> MOVING_TO_FINAL_POSITION + start: intermediate_path_found -> MOVING_TO_INTERMEDIATE_POSITION + ask the asserv to go to the intermediate position + start: no_intermediate_path_found -> MOVING_TO_FINAL_POSITION ask the asserv to go to the final position MOVING_TO_FINAL_POSITION: -- cgit v1.2.3