From e2046a06ee91772f0fa7ac8f139044a8a0620098 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Thu, 24 Apr 2008 00:58:22 +0200 Subject: * digital/io/src - add an event to move away the bot from the gutter (to be able to turn freely) ; - move an event in the source file to ease merge. --- digital/io/src/top.fsm | 23 +++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index 24a3b1fd..5a8e78b1 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -16,8 +16,9 @@ States: waiting for the jack to be removed from the bot CONFIGURE_ASSERV configuring the asserv board - MOVE_AWAY_FROM_BORDER - move the bot away from the border to be able to turn freely + MOVE_AWAY_FROM_START_BORDER + move the bot away from the border of the start point to be able to turn + freely GO_TO_SAMPLE_DISTRIBUTOR go to our distributor of samples (using the move FSM) GO_TO_OUR_ICE_DISTRIBUTOR @@ -35,6 +36,8 @@ States: DROP_OFF_BALLS_TO_GUTTER drop all the balls contained in the bot into the gutter (using the gutter FSM) + MOVE_AWAY_FROM_GUTTER_BORDER + move the bot away from the border of the gutter to be able to turn freely Events: start @@ -67,10 +70,10 @@ WAIT_JACK_OUT: set the settings of the asserv board (especially the position) CONFIGURE_ASSERV: - settings_acknowledged -> MOVE_AWAY_FROM_BORDER + settings_acknowledged -> MOVE_AWAY_FROM_START_BORDER move the bot away from the border to be able to turn freely -MOVE_AWAY_FROM_BORDER: +MOVE_AWAY_FROM_START_BORDER: move_fsm_finished -> GO_TO_SAMPLE_DISTRIBUTOR order the bot to move to our samples distributors with the move FSM @@ -101,10 +104,9 @@ GO_TO_GUTTER: FSM DROP_OFF_BALLS_TO_GUTTER: - gutter_fsm_finished -> GO_TO_SAMPLE_DISTRIBUTOR - we have finished to drop off all the balls, let's go to our sample - ditributor to try the same strategy again - reset internal data + gutter_fsm_finished -> MOVE_AWAY_FROM_GUTTER_BORDER + we have finished to drop off all the balls, let's move away from the gutter + to move freely GO_TO_ADVERSE_ICE_DISTRIBUTOR: move_fsm_finished -> GET_ICE_FROM_ADVERSE_ICE_DISTRIBUTOR @@ -115,3 +117,8 @@ GET_ICE_FROM_ADVERSE_ICE_DISTRIBUTOR: get_samples_fsm_finished -> GO_TO_GUTTER we have finished to get ice. Even if we are not full, let's go to the gutter with the move FSM + +MOVE_AWAY_FROM_GUTTER_BORDER: + move_fsm_finished -> GO_TO_SAMPLE_DISTRIBUTOR + go to our sample ditributor to try the same strategy again + reset internal data -- cgit v1.2.3