From 1bcff7dbcbb284f5564ac708292b23fd447395a9 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sat, 3 May 2008 11:15:31 +0200 Subject: * digital/io/src * top FSM - change the position where to drop balls at the gutter (to prevent the order of dropped balls to change) ; - change the order of balls taken at the distributor: first two samples with three ice, then three samples with two ice. * get samples FSM - manage the case where the arm passed the noted position in the state where it should not (because the arm was blocked) ; - add some debug messages. * gutter FSM - reduce the time spent to drop the balls at the gutter. * move FSM - update the algorithm to avoid obstacle: when a obstacle is seen, first way, then if it is not present anymore continue, otherwise, try to find an alternative path; if none found, wait again. * chrono - near end of the match time increased to 83s. --- digital/io/src/getsamples.fsm | 4 ++++ 1 file changed, 4 insertions(+) (limited to 'digital/io/src/getsamples.fsm') diff --git a/digital/io/src/getsamples.fsm b/digital/io/src/getsamples.fsm index 0079d458..175a1824 100644 --- a/digital/io/src/getsamples.fsm +++ b/digital/io/src/getsamples.fsm @@ -78,6 +78,8 @@ MOVE_AWAY_FROM_DISTRIBUTOR: bot_move_succeed -> CLOSE_INPUT_HOLE close input hole setup a close timeout + arm_pass_noted_position -> . + prepare the classification of the taken sample CLOSE_INPUT_HOLE: arm_move_succeed -> IDLE @@ -85,3 +87,5 @@ CLOSE_INPUT_HOLE: wait_finished -> IDLE timed out, give up tell the top FSM we have finished + arm_pass_noted_position -> . + prepare the classification of the taken sample -- cgit v1.2.3