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authorNicolas Haller2009-05-21 06:20:34 +0200
committerNicolas Haller2009-05-21 06:20:34 +0200
commit1f89ecb260b2915db08412c315d697c1eb7dd6d6 (patch)
tree836f1abf36aad70c53779b6f35e72b0e3f6835bb /digital/io/src/elevator.fsm
parent7715de301fe6b1095bbd061893239c77ba089593 (diff)
* digital/io/src:
- add dropping pucks command before we have 4 pucks in elevator - fix top_puck_inside_bot assignation on elevator fsm
Diffstat (limited to 'digital/io/src/elevator.fsm')
-rw-r--r--digital/io/src/elevator.fsm14
1 files changed, 10 insertions, 4 deletions
diff --git a/digital/io/src/elevator.fsm b/digital/io/src/elevator.fsm
index d9388690..8befad77 100644
--- a/digital/io/src/elevator.fsm
+++ b/digital/io/src/elevator.fsm
@@ -13,6 +13,8 @@ States:
go to a position to be ready to get a new puck
WAIT_A_PUCK
waiting for a new puck (hurry up filter bridge!)
+ WAIT_FB_IDLE
+ waiting for the fb is idle
WAIT_POS_ORDER
waiting for position order (depending where we want to drop our column)
GO_TO_POS_Y
@@ -40,8 +42,8 @@ Events:
elevator is in position
new_puck
we received a new puck from FB (filter bridge, not facebook)
- time_up
- complex event (!time_ok . fb_empty)
+ fb_idle
+ filterbridge idle
order_received
we received a new order
doors_opened
@@ -74,8 +76,12 @@ WAIT_A_PUCK:
new_puck: not_ok_for_other_pucks -> WAIT_POS_ORDER
incrementing nb_puck var
no more time to wait a new puck
- time_up -> WAIT_POS_ORDER
- no more time to wait a new puck
+ order_received -> WAIT_FB_IDLE
+ elevator filling has been shut, get ready to drop pucks
+
+WAIT_FB_IDLE:
+ fb_idle -> GO_TO_POS_Y
+ execute order
WAIT_POS_ORDER:
order_received -> GO_TO_POS_Y