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authorJérémy Dufour2009-05-20 19:22:02 +0200
committerJérémy Dufour2009-05-20 19:22:02 +0200
commit503e3511b2fa42263749c62a9625e6549ac2fe2d (patch)
tree86826db066cceaf8a9351f0f0adb11327ed8a3f5 /digital/io/src/move.fsm
parentfbb64cf43457a96dc7757f649d9f2dc3d6243d19 (diff)
* digital/io/src:
- support backward parameter for the asserv_goto, - enhance to avoid static obstacle, - add center circle of the playground table.
Diffstat (limited to 'digital/io/src/move.fsm')
-rw-r--r--digital/io/src/move.fsm4
1 files changed, 3 insertions, 1 deletions
diff --git a/digital/io/src/move.fsm b/digital/io/src/move.fsm
index 581378ed..f5a56253 100644
--- a/digital/io/src/move.fsm
+++ b/digital/io/src/move.fsm
@@ -30,7 +30,9 @@ Events:
state_timeout
IDLE:
- start -> MOVING_TO_FINAL_POSITION
+ start: intermediate_path_found -> MOVING_TO_INTERMEDIATE_POSITION
+ ask the asserv to go to the intermediate position
+ start: no_intermediate_path_found -> MOVING_TO_FINAL_POSITION
ask the asserv to go to the final position
MOVING_TO_FINAL_POSITION: