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authorNélio Laranjeiro2008-03-29 16:55:12 +0100
committerNélio Laranjeiro2008-03-29 16:55:12 +0100
commitea8d7c80227602af4e51bf550b0bd715ea5f4e49 (patch)
tree13c38bf3f04f7315a6d4aa8a8afdba2872c6ac76 /digital/io/src/gutter/gutter.fsm
parentfd563cc503df214e7402a11aef187c69ffd0f60f (diff)
Added the fsm for the gutter, The open and close commande for the
collector are missing.
Diffstat (limited to 'digital/io/src/gutter/gutter.fsm')
-rw-r--r--digital/io/src/gutter/gutter.fsm6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/io/src/gutter/gutter.fsm b/digital/io/src/gutter/gutter.fsm
index af15c87a..158c8d13 100644
--- a/digital/io/src/gutter/gutter.fsm
+++ b/digital/io/src/gutter/gutter.fsm
@@ -2,17 +2,23 @@
get_samples
States:
+ START
GO_TO_GUTTER
OPEN_COLLECTOR
CLOSE_COLLECTOR
END
Events:
+ ok
position_reached
position_failed
collector_opened
collector_closed
+START:
+ ok -> GO_TO_GUTTER
+ Go to the gutter.
+
GO_TO_GUTTER:
position_reached -> OPEN_COLLECTOR
The robo is near the gutter and the door can be opened.