From b924ab5f66538c6c2f2f19f02bff755a3ddd266d Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 12 May 2010 21:34:15 +0200 Subject: digital/io/src: homologation unloading --- digital/io/src/top.fsm | 26 ++++++++++++++++++++++++-- 1 file changed, 24 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 a46929f0..9a61d00c 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -13,6 +13,12 @@ States: first sequence, go to end of line FIRST_GO_END_OF_LINE_SLOW slow down to take elements + UNLOAD_LOADER_UP + move loader to up position + UNLOAD_FACE_BIN + orient robot to unload angle + UNLOAD_BACK_BIN + move back to unload bin Events: start @@ -59,14 +65,30 @@ FIRST_GO_BEGIN_OF_LINE_FAST: FIRST_GO_END_OF_LINE_FAST: in_field -> FIRST_GO_END_OF_LINE_SLOW set slow speed - move_fsm_succeed -> IDLE + move_fsm_succeed -> UNLOAD_LOADER_UP set slow speed + move loader up 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_succeed -> UNLOAD_LOADER_UP + move loader up move_fsm_failed -> FIRST_GO_END_OF_LINE_SLOW retry +UNLOAD_LOADER_UP: + loader_uped -> UNLOAD_FACE_BIN + turn toward bin + +UNLOAD_FACE_BIN: + bot_move_succeed -> UNLOAD_BACK_BIN + go backward to bin + +UNLOAD_BACK_BIN: + bot_move_succeed -> IDLE + unload + bot_move_failed -> IDLE + unload + -- cgit v1.2.3