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-rw-r--r--digital/io/src/top.fsm13
1 files changed, 13 insertions, 0 deletions
diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm
index a105e87d..5801932e 100644
--- a/digital/io/src/top.fsm
+++ b/digital/io/src/top.fsm
@@ -25,6 +25,8 @@ States:
unloading, wait
COLLECT
collecting elements
+ COLLECT_SLOW_MOTION
+ slowly move toward element to collect
Events:
start
@@ -113,6 +115,17 @@ UNLOAD_UNLOAD:
COLLECT:
move_fsm_succeed: unload -> UNLOAD
move_fsm_succeed: collect -> COLLECT
+ move_fsm_succeed: slow_motion -> COLLECT_SLOW_MOTION
+ slow down
+ move to food
move_fsm_failed: unload -> UNLOAD
move_fsm_failed: collect -> COLLECT
+COLLECT_SLOW_MOTION:
+ bot_move_succeed: unload -> UNLOAD
+ bot_move_succeed: collect -> COLLECT
+ speed up
+ collect
+ bot_move_failed: unload -> UNLOAD
+ bot_move_failed: collect -> COLLECT
+ same as above