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-rw-r--r--digital/io/src/top.fsm12
1 files changed, 12 insertions, 0 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index c33923f6..4bebcdaa 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -19,6 +19,8 @@ States:
move loader to up position
UNLOAD_FACE_BIN
orient robot to unload angle
+ UNLOAD_FACE_BIN_UNBLOCK
+ move backward to unblock
UNLOAD_BACK_BIN
move back to unload bin
UNLOAD_UNLOAD[timeout=225]
@@ -97,10 +99,20 @@ UNLOAD:
UNLOAD_LOADER_UP:
loader_uped -> UNLOAD_FACE_BIN
turn toward bin
+ loader_errored -> UNLOAD_FACE_BIN
+ turn toward bin
UNLOAD_FACE_BIN:
bot_move_succeed -> UNLOAD_BACK_BIN
go backward to bin
+ bot_move_failed -> UNLOAD_FACE_BIN_UNBLOCK
+ move backward
+
+UNLOAD_FACE_BIN_UNBLOCK:
+ bot_move_succeed -> UNLOAD_FACE_BIN
+ turn toward bin
+ bot_move_failed -> UNLOAD_FACE_BIN
+ turn toward bin
UNLOAD_BACK_BIN:
bot_move_succeed -> UNLOAD_UNLOAD