From b0b1b6e4f1c80ef2e1c0e438d9512c6c42d81e37 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Tue, 19 May 2009 17:59:03 +0200 Subject: * digital/io/src: - fix timing and PWD for doors movement, - fix elevator positions, - correct initialization procedure that was sending an asserv command (go to first position) without waiting for the previous one to be finished (find zero position). - consider doors opened only when we have contact (not after a certain time). --- digital/io/src/elevator.fsm | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) (limited to 'digital/io/src/elevator.fsm') diff --git a/digital/io/src/elevator.fsm b/digital/io/src/elevator.fsm index 0e4b3ab5..3bb6ed37 100644 --- a/digital/io/src/elevator.fsm +++ b/digital/io/src/elevator.fsm @@ -56,15 +56,18 @@ IDLE: WAIT_JACK_IN: jack_inserted_into_bot -> INIT - make initializations (elevator zero and open doors) + open doors. + find the zero of the elevator. INIT: doors_opened -> GO_TO_POS_X - make initializations (close doors) + doors opened, close doors. GO_TO_POS_X: in_position -> WAIT_A_PUCK - in position and ready to get a new puck +# FIXME, we should go to a WAIT_FIRST_POS because we are not really ready to +# load some pucks (but this will not happen...). + elevator in position zero, move to first position. WAIT_A_PUCK: new_puck: ok_for_other_pucks -> GO_TO_POS_X -- cgit v1.2.3