From 3c7512d1619b2e73424790f157aec3926e39e838 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Sat, 12 Apr 2008 02:03:38 +0200 Subject: Update the fsms. --- digital/io/src/top.fsm | 39 +++++++++++++++++---------------------- 1 file changed, 17 insertions(+), 22 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index 1da78745..21a6923f 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -4,9 +4,10 @@ top States: START GET_SAMPLES - GET_ICE GO_TO_GOAL + GET_ICE GET_ADV_ICE + BACKWARD Events: ok @@ -14,39 +15,33 @@ Events: collector_full ice_took samples_deposed - samples_took_ice_distributor_empty_not_enough_time - samples_took_ice_distributor_empty_enough_time - samples_deposed_ice_distributor_empty - ice_took_collector_full - not_enough_time - ice_took_collector_not_full + ice_dist_empty + ended START: ok -> GET_SAMPLES Go to take some samples. The sequence shall be adapt to take the correct number of samples. GET_SAMPLES: - samples_took -> GET_ICE + samples_took -> BACKWARD The samples had been took and now the ice is missing. - samples_took_ice_distributor_empty_not_enough_time -> GO_TO_GOAL - Some samples had been took and there is not enough time to get some ice. - samples_took_ice_distributor_empty_enough_time -> GET_ADV_ICE - Go to take ice in the adversary distributor because the one in our part of the table is empty. - collector_full -> GO_TO_GOAL - All the room in the robot are full. GET_ICE: - ice_took -> GO_TO_GOAL - The ice had been taken and the collector is full. The robot shall go to depose it into the goal. + ice_took -> BACKWARD + Go backward to end the take balls. GO_TO_GOAL: samples_deposed -> GET_SAMPLES The samples had been deposed, it shall try to get more samples. This state will call the getsamples FSM and the moveFSM. - samples_deposed_ice_distributor_empty -> GET_ADV_ICE - Go to get some adversary ice because our distributor is empty. GET_ADV_ICE: - ice_took -> GO_TO_GOAL - The ice has been taken, now the robot shall depose it. - ice_took_collector_not_full -> GET_SAMPLES - There is enough time to get some samples and go to the goal. + ice_took -> BACKWARD + The ice has been taken. + +BACKWARD: + ended -> GET_ICE + Get ICE to end the sequence. + collector_full -> GO_TO_GOAL + Go the goal to depose the samples. + ice_dist_empty -> GET_ADV_ICE + Go to take the ice in the adversary distributor because our is empty. -- cgit v1.2.3