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authorJérémy Dufour2009-05-19 17:59:03 +0200
committerJérémy Dufour2009-05-19 17:59:03 +0200
commitb0b1b6e4f1c80ef2e1c0e438d9512c6c42d81e37 (patch)
tree871e9b28d3af9cfcc134d2136993543efcaeb68d /digital/io/src/elevator.fsm
parentf608c5fe3bd802f24457d6a636ccb0411921537c (diff)
* digital/io/src:
- fix timing and PWD for doors movement, - fix elevator positions, - correct initialization procedure that was sending an asserv command (go to first position) without waiting for the previous one to be finished (find zero position). - consider doors opened only when we have contact (not after a certain time).
Diffstat (limited to 'digital/io/src/elevator.fsm')
-rw-r--r--digital/io/src/elevator.fsm9
1 files changed, 6 insertions, 3 deletions
diff --git a/digital/io/src/elevator.fsm b/digital/io/src/elevator.fsm
index 0e4b3ab5..3bb6ed37 100644
--- a/digital/io/src/elevator.fsm
+++ b/digital/io/src/elevator.fsm
@@ -56,15 +56,18 @@ IDLE:
WAIT_JACK_IN:
jack_inserted_into_bot -> INIT
- make initializations (elevator zero and open doors)
+ open doors.
+ find the zero of the elevator.
INIT:
doors_opened -> GO_TO_POS_X
- make initializations (close doors)
+ doors opened, close doors.
GO_TO_POS_X:
in_position -> WAIT_A_PUCK
- in position and ready to get a new puck
+# FIXME, we should go to a WAIT_FIRST_POS because we are not really ready to
+# load some pucks (but this will not happen...).
+ elevator in position zero, move to first position.
WAIT_A_PUCK:
new_puck: ok_for_other_pucks -> GO_TO_POS_X