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authorJérémy Dufour2009-05-22 02:33:28 +0200
committerJérémy Dufour2009-05-22 02:33:28 +0200
commit58afde96c6e2c1d94a61575fd28a896291e8ab3f (patch)
tree49fc0dc944eed854bd26575f9fdb5e8863de243c /digital/io/src/top.fsm
parentedee7b3212394a0cea4c47bf3f17133b2800ce50 (diff)
* digital/io/src:
- when we have finished with the puck from the ground and we go to the distributor, we unload if there is something to unload.
Diffstat (limited to 'digital/io/src/top.fsm')
-rw-r--r--digital/io/src/top.fsm5
1 files changed, 4 insertions, 1 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index bf6ad983..f7693300 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -79,7 +79,10 @@ WAIT_INIT_TO_FINISH:
the match start, try to get some puck from the ground.
GET_PUCK_FROM_THE_GROUND:
- move_fsm_succeed: already_six_pucks_or_no_next_position -> GET_PUCK_FROM_DISTRIBUTOR
+ move_fsm_succeed: already_six_pucks_or_no_next_position_and_no_puck -> GET_PUCK_FROM_DISTRIBUTOR
+ close cylinder.
+ get the next distributor position and launch move FSM to go there.
+ move_fsm_succeed: already_six_pucks_or_no_next_position_and_some_puck -> STOP_TO_GO_TO_UNLOAD_AREA
close cylinder.
get the next distributor position and launch move FSM to go there.
move_fsm_succeed: next_position_exists -> .