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#FSM get samples
get_samples

States:
 START
 GO_TO_POSITION
 PREPARE_ARM
 FORWARD_CONTROL
 TAKE_SAMPLES
 BACKWARD
 END

Events:
 ok
 position_reached
 position_failed
 arm_moved
 sample_took
 classifier_ready

START:
 ok -> GO_TO_POSITION
  Go to the distributor. The distributor to reach shall be setted in the fsm structure.

GO_TO_POSITION:
 position_reached -> PREPARE_ARM
  Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor.
 position_failed -> GO_TO_POSITION
  Go to another point before trying to go to this one again.

PREPARE_ARM:
 arm_moved -> FORWARD_CONTROL
  Prepare the arm to the correct position.

FORWARD_CONTROL:
 position_reached -> TAKE_SAMPLES
  End the position to the distributor.

TAKE_SAMPLES:
 sample_took: more -> .
  Continue to take samples and classify the next sample.
 sample_took: no_more -> BACKWARD
  If the quantity of samples are tooked, then go backeward and conitnue classifying the samples.

BACKWARD:
 position_reached -> END
  Ending this state machine.