From 4ec488723aa5213fcf6ca479ce2635e7de8fe733 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Tue, 22 Apr 2008 12:54:41 +0200 Subject: move.fsm : update the fsm, when block on a movement try the opposite one. --- digital/io/src/move.fsm | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'digital/io') diff --git a/digital/io/src/move.fsm b/digital/io/src/move.fsm index 1608c594..e36e4e86 100644 --- a/digital/io/src/move.fsm +++ b/digital/io/src/move.fsm @@ -28,14 +28,14 @@ DESIRED_POSITION: MOVE_ON_LEFT: reached -> DESIRED_POSITION The position has been reached. It will now try to reach the position provided by the user. - blocked -> COMPUTE_POS - The robot will compute the position from the border and will take the decision to go on the left or on the right. + blocked -> MOVE_ON_RIGHT + The robot will try to go on the left because the previous movement block on the right. MOVE_ON_RIGHT: reached -> DESIRED_POSITION The position has been reached. It will now try to reach the position provided by the user. - blocked -> COMPUTE_POS - The robot will compute the position from the border and will take the decision to go on the left or on the right. + blocked -> MOVE_ON_LEFT + The robot will try to go on the left because the previous movement block on the left. COMPUTE_POS: near_left_border -> MOVE_ON_RIGHT -- cgit v1.2.3