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authorJérémy Dufour2008-05-01 15:41:42 +0200
committerJérémy Dufour2008-05-01 15:41:42 +0200
commit26405c3578bfc4877f250ef10190693e7e09df76 (patch)
tree9173209d4643dd2da4b63b5456815c8176fe0bd6 /digital/io/src/getsamples.fsm
parent5a1f82f99f570b274c00c7ec4eb26cb0f8486657 (diff)
* digital/io/src
- add a state to go backward a litte bit after approaching a distributor to ease the get samples.
Diffstat (limited to 'digital/io/src/getsamples.fsm')
-rw-r--r--digital/io/src/getsamples.fsm6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/io/src/getsamples.fsm b/digital/io/src/getsamples.fsm
index 1fdfaa98..2f495626 100644
--- a/digital/io/src/getsamples.fsm
+++ b/digital/io/src/getsamples.fsm
@@ -23,6 +23,8 @@ States:
move the bot away from the distributor by going backward
CLOSE_INPUT_HOLE
put the arm back in front of the input hole to prevent sample to enter
+ MOVE_BACKWARD_FROM_DISTRIBUTOR
+ move a little bit backward from the distributor
Events:
start
@@ -51,6 +53,10 @@ OPEN_INPUT_HOLE:
start approaching the distributor now
APPROACH_DISTRIBUTOR:
+ bot_move_succeed -> MOVE_BACKWARD_FROM_DISTRIBUTOR
+ move a little bit backward from the distributor
+
+MOVE_BACKWARD_FROM_DISTRIBUTOR:
bot_move_succeed -> TAKE_SAMPLES
start taking some samples