From 8f70e520c9c4ce504f8368346d8b85df27932ebe Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 12 May 2010 19:01:20 +0200 Subject: digital/io/src: homologation initial sequence --- digital/io/src/top.fsm | 50 ++++++++++++++++++++++++++++++++------------------ 1 file changed, 32 insertions(+), 18 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index c3581c54..a46929f0 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -7,10 +7,12 @@ States: waiting for the beginning of the top FSM. WAIT_INIT_TO_FINISH waiting for the end of init. - GO_FAR - testing move fsm, going to a far point. - GO_NEAR - testing move fsm, going to a near point. + FIRST_GO_BEGIN_OF_LINE_FAST + first sequence, go to start of diagonal line + FIRST_GO_END_OF_LINE_FAST + first sequence, go to end of line + FIRST_GO_END_OF_LINE_SLOW + slow down to take elements Events: start @@ -41,18 +43,30 @@ IDLE: nothing to do. WAIT_INIT_TO_FINISH: - init_match_is_started -> GO_FAR + init_match_is_started -> FIRST_GO_BEGIN_OF_LINE_FAST the match start - go to a far point - -GO_FAR: - move_fsm_succeed -> GO_NEAR - go to a near point - move_fsm_failed -> GO_NEAR - go to a near point - -GO_NEAR: - move_fsm_succeed -> GO_FAR - restart - move_fsm_failed -> GO_FAR - restart + set fast speed + go to first sequence begin of line + +FIRST_GO_BEGIN_OF_LINE_FAST: + move_fsm_succeed -> FIRST_GO_END_OF_LINE_FAST + go to end of line + loader down + move_fsm_failed -> . + set slow speed + retry + +FIRST_GO_END_OF_LINE_FAST: + in_field -> FIRST_GO_END_OF_LINE_SLOW + set slow speed + move_fsm_succeed -> IDLE + set slow speed + move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW + set slow speed + retry + +FIRST_GO_END_OF_LINE_SLOW: + move_fsm_succeed -> IDLE + move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW + retry + -- cgit v1.2.3