From 80b3da91dac28a5895a8cb9f0477a7008365dd56 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:57:20 +0200 Subject: digital/io: wipe-out old robot code, closes #112 --- digital/io/src/filterbridge.fsm | 74 ----------------------------------------- 1 file changed, 74 deletions(-) delete mode 100644 digital/io/src/filterbridge.fsm (limited to 'digital/io/src/filterbridge.fsm') diff --git a/digital/io/src/filterbridge.fsm b/digital/io/src/filterbridge.fsm deleted file mode 100644 index 246aab0c..00000000 --- a/digital/io/src/filterbridge.fsm +++ /dev/null @@ -1,74 +0,0 @@ -# Filter Bridge FSM -# Filter column element (our colour -> go to lift, !our colour -> EJECT) -filterbridge - -States: - IDLE - waiting the lift is ready to accept new puck - WAIT_JACK_IN - waiting for the jack to be inserted into the bot - CLOSE_DOOR[timeout=225] - close access to the lift (and wait 1 sec) - WAIT_A_PUCK - waiting for a new puck - WAIT_LIFT_READY - waiting for elevator ready - MARCEL_WAIT[timeout=45] - waiting the puck is entirely in pos2 - OPEN_DOOR[timeout=225] - release puck to the lift and block a new puck on pos1 - PUSH_PUCK - push the puck to the lift - TEMPO_ELVETATOR_COMMUNICATION [timeout=225] - a temporisation for the communication between the eleveator and the FB. - -Events: - start - robot start - jack_inserted_into_bot - jack into the bot - lift_ready - the elevator is ready - puck_on_pos2 - a puck has been detected on bridge's position 2 - no_puck_on_pos2 - there is no puck on position 2 - state_timeout - timeout used to wait the end of servo move - -IDLE: - start -> WAIT_JACK_IN - we wait for the jack - -WAIT_JACK_IN: - jack_inserted_into_bot -> CLOSE_DOOR - we init the bridge - -CLOSE_DOOR: - state_timeout -> WAIT_A_PUCK - we are ready, we wait a puck - -WAIT_A_PUCK: - puck_on_pos2 -> WAIT_LIFT_READY - Puck ready to be dropped to the elevator. Test if elvt ready to get it. - -WAIT_LIFT_READY: - lift_ready -> MARCEL_WAIT - the lift is ready - -MARCEL_WAIT: - state_timeout -> OPEN_DOOR - lift ready, we deliver - -OPEN_DOOR: - state_timeout -> PUSH_PUCK - we push the puck to the lift - -PUSH_PUCK: - no_puck_on_pos2 -> TEMPO_ELVETATOR_COMMUNICATION - nothing to do. - -TEMPO_ELVETATOR_COMMUNICATION: - state_timeout -> CLOSE_DOOR - the puck disappears, we close doors - tell the elevator we are ready. -- cgit v1.2.3