From 94f06205a8a95bc9b03109329d84410967ba12b4 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 21 Apr 2008 23:56:26 +0200 Subject: * digital/io/src - resetting of asserv parameters is now a separate state in order to get the acknowledge from the asserv board ; - integrate the handle of this event into the main loop. --- digital/io/src/top.fsm | 13 ++++++++++--- 1 file changed, 10 insertions(+), 3 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index eed38367..2a9ad8e4 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -14,6 +14,8 @@ States: waiting for the jack to be inserted into the bot WAIT_JACK_OUT waiting for the jack to be removed from the bot + CONFIGURE_ASSERV + configuring the asserv board GO_TO_SAMPLE_DISTRIBUTOR go to our distributor of samples (using the move FSM) GO_TO_OUR_ICE_DISTRIBUTOR @@ -45,6 +47,8 @@ Events: the jack is inserted into the bot jack_removed_from_bot the jack is removed from the bot + settings_acknowledged + the asserv board has acknowledged the settings sent IDLE: start -> WAIT_JACK_IN @@ -57,10 +61,13 @@ WAIT_JACK_IN: bot WAIT_JACK_OUT: - jack_removed_from_bot -> GO_TO_SAMPLE_DISTRIBUTOR + jack_removed_from_bot -> CONFIGURE_ASSERV the match start, start the chronometer - we should also initialize all the subsystems of IO (reset position, get our - color, ...) + we should also initialize all the subsystems of IO (get our color, ...) + set the settings of the asserv board (especially the position) + +CONFIGURE_ASSERV: + settings_acknowledged -> 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