From 81c3639247293714de5913f283b786bc73cba491 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 08:09:14 +0200 Subject: digital/io/src: handle loader blocking in top FSM --- digital/io/src/top.fsm | 16 ++++++++++++++++ 1 file changed, 16 insertions(+) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index 9a61d00c..7c7087f5 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -13,6 +13,8 @@ States: first sequence, go to end of line FIRST_GO_END_OF_LINE_SLOW slow down to take elements + FIRST_GO_END_OF_LINE_UNBLOCKING + unblock problem with loader, go backward UNLOAD_LOADER_UP move loader to up position UNLOAD_FACE_BIN @@ -71,12 +73,26 @@ FIRST_GO_END_OF_LINE_FAST: move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW set slow speed retry + loader_errored -> FIRST_GO_END_OF_LINE_UNBLOCKING + move backward + move loader down FIRST_GO_END_OF_LINE_SLOW: move_fsm_succeed -> UNLOAD_LOADER_UP move loader up move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW retry + loader_errored -> FIRST_GO_END_OF_LINE_UNBLOCKING + move backward + move loader down + +FIRST_GO_END_OF_LINE_UNBLOCKING: + bot_move_succeed -> FIRST_GO_END_OF_LINE_SLOW + retry + bot_move_failed -> FIRST_GO_END_OF_LINE_SLOW + retry + loader_errored -> . + unblock again UNLOAD_LOADER_UP: loader_uped -> UNLOAD_FACE_BIN -- cgit v1.2.3