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authorNicolas Schodet2010-05-30 10:57:35 +0200
committerNicolas Schodet2010-05-30 10:57:35 +0200
commit9107c6f474f508fce88045c9b041269797c776b1 (patch)
treeac3c96963cfc010be10f12e1d08c4ef0b243c133 /digital/io/src/top.fsm
parent78e07f956ad17ec0c781bd6c2caf36f953a5ed51 (diff)
digital/io/src: pick corn before sensing them
Diffstat (limited to 'digital/io/src/top.fsm')
-rw-r--r--digital/io/src/top.fsm20
1 files changed, 10 insertions, 10 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index faa049f5..c268bd66 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -27,8 +27,8 @@ States:
unloading, wait
COLLECT
collecting elements
- COLLECT_SLOW_MOTION
- slowly move toward element to collect
+ COLLECT_SLOW_MOTION[timeout=450]
+ picking element before bumper contact
COLLECT_BLACK
moving backward after trying to collect a black corn
@@ -133,22 +133,22 @@ COLLECT:
move_fsm_succeed: unload -> UNLOAD
move_fsm_succeed: collect -> COLLECT
move_fsm_succeed: slow_motion -> COLLECT_SLOW_MOTION
- slow down
- move to food
+ post loader_element event
move_fsm_failed: unload -> UNLOAD
move_fsm_failed: collect -> COLLECT
cancel this element
COLLECT_SLOW_MOTION:
- bot_move_succeed: unload -> UNLOAD
- bot_move_succeed: collect -> COLLECT
- speed up
+ loader_downed: unload -> UNLOAD
+ loader_downed: collect -> COLLECT
collect
- bot_move_failed: unload -> UNLOAD
- bot_move_failed: collect -> COLLECT
+ loader_errored: unload -> UNLOAD
+ loader_errored: collect -> COLLECT
+ same as above
+ state_timeout: unload -> UNLOAD
+ state_timeout: collect -> COLLECT
same as above
loader_black -> COLLECT_BLACK
- speed up
move backward
mark as black