From cf6e8293144792ff142d18b8b6a6a78804bb9b8a Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Thu, 17 Apr 2008 23:53:47 +0200 Subject: Replaced the END state and the START state by a single state IDLE. --- digital/io/src/move.fsm | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) (limited to 'digital/io/src/move.fsm') diff --git a/digital/io/src/move.fsm b/digital/io/src/move.fsm index cbe38ba9..d7e175a4 100644 --- a/digital/io/src/move.fsm +++ b/digital/io/src/move.fsm @@ -2,24 +2,23 @@ move States: - START - END + IDLE DESIRED_POSITION MOVE_ON_LEFT MOVE_ON_RIGHT Events: - ok + start reached failed_or_blocked_or_near_border failed_or_blocked -START: - ok -> DESIRED_POSITION +IDLE: + start -> DESIRED_POSITION Tries to reach a position provided by the user. If the position desired can not be reached, it all try to move on the right or the left. DESIRED_POSITION: - reached -> END + reached -> IDLE The position provided by the user has been reached, the FSM can stop. 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. -- cgit v1.2.3