From 9107c6f474f508fce88045c9b041269797c776b1 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 30 May 2010 10:57:35 +0200 Subject: digital/io/src: pick corn before sensing them --- digital/io/src/top.fsm | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index faa049f5..c268bd66 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -27,8 +27,8 @@ States: unloading, wait COLLECT collecting elements - COLLECT_SLOW_MOTION - slowly move toward element to collect + COLLECT_SLOW_MOTION[timeout=450] + picking element before bumper contact COLLECT_BLACK moving backward after trying to collect a black corn @@ -133,22 +133,22 @@ COLLECT: move_fsm_succeed: unload -> UNLOAD move_fsm_succeed: collect -> COLLECT move_fsm_succeed: slow_motion -> COLLECT_SLOW_MOTION - slow down - move to food + post loader_element event move_fsm_failed: unload -> UNLOAD move_fsm_failed: collect -> COLLECT cancel this element COLLECT_SLOW_MOTION: - bot_move_succeed: unload -> UNLOAD - bot_move_succeed: collect -> COLLECT - speed up + loader_downed: unload -> UNLOAD + loader_downed: collect -> COLLECT collect - bot_move_failed: unload -> UNLOAD - bot_move_failed: collect -> COLLECT + loader_errored: unload -> UNLOAD + loader_errored: collect -> COLLECT + same as above + state_timeout: unload -> UNLOAD + state_timeout: collect -> COLLECT same as above loader_black -> COLLECT_BLACK - speed up move backward mark as black -- cgit v1.2.3