From 85d96233455b890c83638583da11e7aa6e989e72 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Fri, 22 May 2009 06:07:55 +0200 Subject: * digital/io/src: - add a timeout when trying to get puck from the distributor, - reduce temporisation to unload pucks (wrong value). --- digital/io/src/top.fsm | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index fd514478..d59eea08 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -9,7 +9,7 @@ States: waiting for the end of init. GET_PUCK_FROM_THE_GROUND [timeout=1575] get some pucks from the ground. - GET_PUCK_FROM_DISTRIBUTOR + GET_PUCK_FROM_DISTRIBUTOR [timeout=2250] get some pucks from the distributor. STOP_TO_GO_TO_UNLOAD_AREA stop the move FSM before starting a new one. @@ -19,7 +19,7 @@ States: when going to unload area. FUCK_UNLOAD_AREA when going backward in position for unload. - UNLOAD_PUCKS [timeout=11250] + UNLOAD_PUCKS [timeout=1125] when unloading all pucks from the bot. ELEVATOR_READY_TO_GO_AWAY_TO_RETRY_UNLOAD [timeout=1125] wait for the elevator to be ready for a bot movement. @@ -157,6 +157,8 @@ GET_PUCK_FROM_DISTRIBUTOR: move_fsm_failed: some_pucks_and_no_more_time -> GO_TO_UNLOAD_AREA compute an unload area. ask move FSM to go there. + state_timeout -> . + get the next distributor position and launch move FSM to go there. CLEAN_FRONT_OF_DISTRIBUTOR: move_fsm_succeed -> FUCK_THE_DISTRIBUTOR -- cgit v1.2.3