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authorNicolas Schodet2010-05-13 22:26:49 +0200
committerNicolas Schodet2010-05-13 22:26:49 +0200
commitf409e9a7eeef4bbccd782931c296ff9cde079487 (patch)
tree0ea8acf2b11b9fdee99b2a01c10d6882a351d3e6 /digital/io/src/loader.fsm
parent1b290a3f5f6f084d5e2f142d6cea4d47fc36cf75 (diff)
digital/io/src: hacks for first roundeurobot-2010-1
Diffstat (limited to 'digital/io/src/loader.fsm')
-rw-r--r--digital/io/src/loader.fsm7
1 files changed, 6 insertions, 1 deletions
diff --git a/digital/io/src/loader.fsm b/digital/io/src/loader.fsm
index 92c0d839..df5723ca 100644
--- a/digital/io/src/loader.fsm
+++ b/digital/io/src/loader.fsm
@@ -51,6 +51,7 @@ States:
check clamp is open
LOADER_LOAD_EMPTY_OPEN
open clamp due to no elements to pick
+ LOADER_HACK_MATCH1[timeout=225]
Events:
elevator_succeed
@@ -182,10 +183,14 @@ LOADER_LOAD_UPING:
post loader_errored event
LOADER_LOAD_UNLOADING:
- elevator_succeed -> LOADER_LOAD_UNLOADING_OPEN
+ elevator_succeed: choucroute -> LOADER_HACK_MATCH1
+ elevator_succeed: merguez -> LOADER_LOAD_UNLOADING_OPEN
elevator_failed -> LOADER_ERROR
post loader_errored event
+LOADER_HACK_MATCH1:
+ state_timeout -> LOADER_LOAD_UNLOADING_OPEN
+
LOADER_LOAD_UNLOADING_OPEN:
clamp_succeed -> LOADER_DOWNING
move down