From 1f89ecb260b2915db08412c315d697c1eb7dd6d6 Mon Sep 17 00:00:00 2001 From: Nicolas Haller Date: Thu, 21 May 2009 06:20:34 +0200 Subject: * digital/io/src: - add dropping pucks command before we have 4 pucks in elevator - fix top_puck_inside_bot assignation on elevator fsm --- digital/io/src/elevator.fsm | 14 ++++++++++---- 1 file changed, 10 insertions(+), 4 deletions(-) (limited to 'digital/io/src/elevator.fsm') diff --git a/digital/io/src/elevator.fsm b/digital/io/src/elevator.fsm index d9388690..8befad77 100644 --- a/digital/io/src/elevator.fsm +++ b/digital/io/src/elevator.fsm @@ -13,6 +13,8 @@ States: go to a position to be ready to get a new puck WAIT_A_PUCK waiting for a new puck (hurry up filter bridge!) + WAIT_FB_IDLE + waiting for the fb is idle WAIT_POS_ORDER waiting for position order (depending where we want to drop our column) GO_TO_POS_Y @@ -40,8 +42,8 @@ Events: elevator is in position new_puck we received a new puck from FB (filter bridge, not facebook) - time_up - complex event (!time_ok . fb_empty) + fb_idle + filterbridge idle order_received we received a new order doors_opened @@ -74,8 +76,12 @@ WAIT_A_PUCK: new_puck: not_ok_for_other_pucks -> WAIT_POS_ORDER incrementing nb_puck var no more time to wait a new puck - time_up -> WAIT_POS_ORDER - no more time to wait a new puck + order_received -> WAIT_FB_IDLE + elevator filling has been shut, get ready to drop pucks + +WAIT_FB_IDLE: + fb_idle -> GO_TO_POS_Y + execute order WAIT_POS_ORDER: order_received -> GO_TO_POS_Y -- cgit v1.2.3