From b9d646e41511eb5443faad66b8fc1c7323b2e738 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Tue, 8 Apr 2008 00:02:53 +0200 Subject: Tested the move FSM machine. --- digital/io/src/move.fsm | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) (limited to 'digital/io/src/move.fsm') diff --git a/digital/io/src/move.fsm b/digital/io/src/move.fsm index da059071..cbe38ba9 100644 --- a/digital/io/src/move.fsm +++ b/digital/io/src/move.fsm @@ -11,7 +11,7 @@ States: Events: ok reached - near_border + failed_or_blocked_or_near_border failed_or_blocked START: @@ -21,21 +21,19 @@ START: DESIRED_POSITION: reached -> END The position provided by the user has been reached, the FSM can stop. - failed_or_blocked -> MOVE_ON_LEFT + failed_or_blocked: near_right_border -> MOVE_ON_LEFT The robot has failed to reach the position. It shall try another position before trying to reach this one again. It shall go to the on the left only if the left border is the farest one. + failed_or_blocked: near_left_border -> MOVE_ON_RIGHT + Same process as the previous one but on the right. MOVE_ON_LEFT: reached -> DESIRED_POSITION The position has been reached. It will now try to reach the position provided by the user. - failed_or_blocked -> MOVE_ON_LEFT + failed_or_blocked_or_near_border -> MOVE_ON_RIGHT The position is fail again, it will try to reach another one. - near_border -> MOVE_ON_RIGHT - The robot is now too near of the border. MOVE_ON_RIGHT: reached -> DESIRED_POSITION The position has been reached. It will now try to reach the position provided by the user. - failed_or_blocked -> MOVE_ON_RIGHT + failed_or_blocked_or_near_border -> MOVE_ON_LEFT The position is fail again, it will try to reach another one. - near_border -> MOVE_ON_LEFT - The robot is now too near of the border. -- cgit v1.2.3