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authorNélio Laranjeiro2008-04-22 12:54:41 +0200
committerNélio Laranjeiro2008-04-22 12:54:41 +0200
commit4ec488723aa5213fcf6ca479ce2635e7de8fe733 (patch)
tree0d255978fa5796bf5bbaa6d58cbe8f847ee1c21f
parentc274ba5eb538cbca4978d3232474add42d788ec2 (diff)
move.fsm : update the fsm, when block on a movement try the opposite
one.
-rw-r--r--digital/io/src/move.fsm8
1 files changed, 4 insertions, 4 deletions
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