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# Top FSM.
top

States:
 START
 GET_SAMPLES
 GET_ICE
 GO_TO_GOAL
 GET_ADV_ICE

Events:
 ok
 samples_took
 collector_full
 ice_took
 samples_deposed
 samples_took_ice_distributor_empty_not_enough_time
 samples_took_ice_distributor_empty_enough_time
 samples_deposed_ice_distributor_empty
 ice_took_collector_full
 not_enough_time
 ice_took_collector_not_full

START:
 ok -> GET_SAMPLES
  Go to take some samples. The sequence shall be adapt to take the correct number of samples.

GET_SAMPLES:
 samples_took -> GET_ICE
  The samples had been took and now the ice is missing.
 samples_took_ice_distributor_empty_not_enough_time -> GO_TO_GOAL
  Some samples had been took and there is not enough time to get some ice. 
 samples_took_ice_distributor_empty_enough_time -> GET_ADV_ICE
  Go to take ice in the adversary distributor because the one in our part of the table is empty.
 collector_full -> GO_TO_GOAL
  All the room in the robot are full.

GET_ICE:
 ice_took -> GO_TO_GOAL
  The ice had been taken and the collector is full. The robot shall go to depose it into the goal.

GO_TO_GOAL:
 samples_deposed -> GET_SAMPLES
  The samples had been deposed, it shall try to get more samples. This state will call the getsamples FSM and the moveFSM.
 samples_deposed_ice_distributor_empty -> GET_ADV_ICE
  Go to get some adversary ice because our distributor is empty.

GET_ADV_ICE:
 ice_took -> GO_TO_GOAL
  The ice has been taken, now the robot shall depose it.
 ice_took_collector_not_full -> GET_SAMPLES
  There is enough time to get some samples and go to the goal.