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-rw-r--r--digital/io/src/getsamples/getSamplesFsm.fsm6
1 files changed, 6 insertions, 0 deletions
diff --git a/digital/io/src/getsamples/getSamplesFsm.fsm b/digital/io/src/getsamples/getSamplesFsm.fsm
index b8c31e46..3f7266d0 100644
--- a/digital/io/src/getsamples/getSamplesFsm.fsm
+++ b/digital/io/src/getsamples/getSamplesFsm.fsm
@@ -2,6 +2,7 @@
get_samples
States:
+ START
GO_TO_POSITION
PREPARE_ARM
FORWARD_CONTROL
@@ -10,12 +11,17 @@ States:
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.