From 1f9e5a0242b608ea941d6f8ea32fdc89c60224c1 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Wed, 19 Mar 2008 00:27:23 +0100 Subject: First dfagen for the getsamples fsm. This is only a first shoot, all the transitions are not presents. --- digital/io/src/getsamples/getSamplesFsm.fsm | 34 +++++++++++++++++++++++++++++ 1 file changed, 34 insertions(+) create mode 100644 digital/io/src/getsamples/getSamplesFsm.fsm (limited to 'digital/io/src/getsamples/getSamplesFsm.fsm') diff --git a/digital/io/src/getsamples/getSamplesFsm.fsm b/digital/io/src/getsamples/getSamplesFsm.fsm new file mode 100644 index 00000000..3ffc8377 --- /dev/null +++ b/digital/io/src/getsamples/getSamplesFsm.fsm @@ -0,0 +1,34 @@ +#FSM get samples +get_samples + +States: + GO_TO_POSITION + PREPARE_ARM + FORWARD_CONTROL + PREPARE_CLASSIFIER + LOAD_SAMPLES + +Events: + move_finished + move_blocked + arm_prepared + ready_to_load + classifer_prepared + sample_loaded + +GO_TO_POSITION: + move_finished -> FORWARD_CONTROL + Go to the position desired, it is very near the position of the distributor in case it is a ice distributor or sample distributor. + move_blocked -> . + +FORWARD_CONTROL: + move_finished -> PREPARE_ARM + The position is reached the arm shall be seted to the position disired. + +PREPARE_ARM: + arm_prepared -> PREPARE_CLASSIFIER + Prepare the arm to load the samples. + +PREPARE_CLASSIFIER: + classifer_prepared -> LOAD_SAMPLES + Load some samples. -- cgit v1.2.3