From 19b20cc7f4f83608805b2d18cb466493174a0ca5 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Fri, 22 May 2009 20:23:26 +0200 Subject: * digital/io/src: - do not try to unload pucks when we have no puck and we failed our move. --- digital/io/src/top.fsm | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index 496edadc..02fb854c 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -87,10 +87,12 @@ GET_PUCK_FROM_THE_GROUND: get the next distributor position and launch move FSM to go there. move_fsm_succeed: next_position_exists -> . go to the next position using move FSM. - move_fsm_failed -> GO_TO_UNLOAD_AREA + move_fsm_failed: some_pucks -> GO_TO_UNLOAD_AREA close cylinder. - we have failed to do a move, go the distributor (get next distributor and go - there with move FSM). + we have failed to do a move, unload pucks. + move_fsm_failed: no_puck -> GET_PUCK_FROM_DISTRIBUTOR + close cylinder. + get the next distributor position and launch move FSM to go there. bot_is_full_of_pucks -> STOP_TO_GO_TO_UNLOAD_AREA stop move FSM. state_timeout: no_puck -> STOP_TO_GET_PUCK_FROM_DISTRIBUTOR -- cgit v1.2.3