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-rw-r--r--digital/io/src/getsamples/getSamplesFsm.fsm47
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diff --git a/digital/io/src/getsamples/getSamplesFsm.fsm b/digital/io/src/getsamples/getSamplesFsm.fsm
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--- a/digital/io/src/getsamples/getSamplesFsm.fsm
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-#FSM get samples
-get_samples
-
-States:
- START
- GO_TO_POSITION
- PREPARE_ARM
- FORWARD_CONTROL
- TAKE_SAMPLES
- BACKWARD
- END
-
-Events:
- ok
- position_reached
- position_failed
- arm_moved
- sample_took
- classifier_ready
-
-START:
- ok -> GO_TO_POSITION
- Go to the distributor. The distributor to reach shall be setted in the fsm structure.
-
-GO_TO_POSITION:
- position_reached -> PREPARE_ARM
- Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor.
- position_failed -> GO_TO_POSITION
- Go to another point before trying to go to this one again.
-
-PREPARE_ARM:
- arm_moved -> FORWARD_CONTROL
- Prepare the arm to the correct position.
-
-FORWARD_CONTROL:
- position_reached -> TAKE_SAMPLES
- End the position to the distributor.
-
-TAKE_SAMPLES:
- sample_took: more -> .
- Continue to take samples and classify the next sample.
- sample_took: no_more -> BACKWARD
- If the quantity of samples are tooked, then go backeward and conitnue classifying the samples.
-
-BACKWARD:
- position_reached -> END
- Ending this state machine.