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authorNicolas Haller2009-05-21 04:39:13 +0200
committerNicolas Haller2009-05-21 04:39:13 +0200
commit5536ee0fb112ee462fdcceb327ffa5ac5bac9ba3 (patch)
tree799498807bed172ad3f31bbf402bf5b9b60e7895 /digital/io/src/elevator.fsm
parentcf550d27be5f0a165241c2c11421701609331918 (diff)
* digital/io/src:
- fix elevator fsm: using timeout to control doors - add forgotten event handler for cylinder (no_close_order) - fix elevator fsm again: elevator positions
Diffstat (limited to 'digital/io/src/elevator.fsm')
-rw-r--r--digital/io/src/elevator.fsm14
1 files changed, 6 insertions, 8 deletions
diff --git a/digital/io/src/elevator.fsm b/digital/io/src/elevator.fsm
index 3bb6ed37..d9388690 100644
--- a/digital/io/src/elevator.fsm
+++ b/digital/io/src/elevator.fsm
@@ -21,13 +21,13 @@ States:
ready to open doors at your command
LAND_ELEVATOR
land elevator to the ground
- MINI_CLOSE
+ MINI_CLOSE[timeout=45]
try to unblock pucks
- OPEN_DOORS
+ OPEN_DOORS[timeout=675]
releasing pucks
WAIT_FOR_CLOSE_ORDER
ready to close doors at your command
- CLOSE_DOORS
+ CLOSE_DOORS[timeout=675]
closing the elevator's doors
@@ -46,8 +46,6 @@ Events:
we received a new order
doors_opened
doors are opened
- door_move_finished
- doors move is done
state_timeout
IDLE:
@@ -98,11 +96,11 @@ LAND_ELEVATOR:
OPEN_DOORS:
doors_opened -> WAIT_FOR_CLOSE_ORDER
wait for close order
- door_move_finished -> MINI_CLOSE
+ state_timeout -> MINI_CLOSE
try to unblock doors
MINI_CLOSE:
- door_move_finished -> OPEN_DOORS
+ state_timeout -> OPEN_DOORS
try to release pucks again
WAIT_FOR_CLOSE_ORDER:
@@ -110,5 +108,5 @@ WAIT_FOR_CLOSE_ORDER:
closing doors
CLOSE_DOORS:
- door_move_finished -> GO_TO_POS_X
+ state_timeout -> GO_TO_POS_X
pucks are released and elevator is ready to make a new column