From 775eaa0998d0257b6fcd55048c98fa847183892b Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Wed, 23 Apr 2008 10:56:01 +0200 Subject: * digital/io/src - add a state to the top FSM to move away from the border. --- digital/io/src/top.fsm | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index 2a9ad8e4..cf125bb3 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -16,6 +16,8 @@ States: waiting for the jack to be removed from the bot CONFIGURE_ASSERV configuring the asserv board + MOVE_AWAY_FROM_BORDER + move the bot away from the border to be able to turn freely GO_TO_SAMPLE_DISTRIBUTOR go to our distributor of samples (using the move FSM) GO_TO_OUR_ICE_DISTRIBUTOR @@ -67,7 +69,11 @@ WAIT_JACK_OUT: set the settings of the asserv board (especially the position) CONFIGURE_ASSERV: - settings_acknowledged -> GO_TO_SAMPLE_DISTRIBUTOR + settings_acknowledged -> MOVE_AWAY_FROM_BORDER + move the bot away from the border to be able to turn freely + +MOVE_AWAY_FROM_BORDER: + move_fsm_finished -> GO_TO_SAMPLE_DISTRIBUTOR order the bot to move to our samples distributors with the move FSM GO_TO_SAMPLE_DISTRIBUTOR: -- cgit v1.2.3