From d33d50de945f17027ca4164eff05c089b264d7d6 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Sat, 22 Mar 2008 16:10:29 +0100 Subject: Removed the loadsample fsm, it is integretated with the getsamples FSM. --- digital/io/src/getsamples/getSamplesFsm.fsm | 44 +++++++++++++++++------------ 1 file changed, 26 insertions(+), 18 deletions(-) (limited to 'digital/io/src/getsamples/getSamplesFsm.fsm') diff --git a/digital/io/src/getsamples/getSamplesFsm.fsm b/digital/io/src/getsamples/getSamplesFsm.fsm index 3ffc8377..e0862263 100644 --- a/digital/io/src/getsamples/getSamplesFsm.fsm +++ b/digital/io/src/getsamples/getSamplesFsm.fsm @@ -5,30 +5,38 @@ States: GO_TO_POSITION PREPARE_ARM FORWARD_CONTROL - PREPARE_CLASSIFIER - LOAD_SAMPLES + TAKE_SAMPLES + CLASSIFY + BACKWARD + END Events: - move_finished - move_blocked - arm_prepared - ready_to_load - classifer_prepared - sample_loaded + position_reached + position_failed + arm_moved + sample_took + classifier_ready GO_TO_POSITION: - move_finished -> FORWARD_CONTROL + position_reached -> PREPARE_ARM 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 -> . + position_failed -> GO_TO_POSITION + Go to another point before trying to go to this one again. + +PREPARE_ARM: + arm_moved -> FORWARD_CONTROL + Prepare the arm to the correct position. FORWARD_CONTROL: - move_finished -> PREPARE_ARM - The position is reached the arm shall be seted to the position disired. + position_reached -> TAKE_SAMPLES + End the position to the distributor. -PREPARE_ARM: - arm_prepared -> PREPARE_CLASSIFIER - Prepare the arm to load the samples. +TAKE_SAMPLES: + sample_took: nb_samples < quantity -> . + Continue to take samples and classify the next sample. + sample_took: nb_samples == quantity -> BACKWARD + If the quantity of samples are tooked, then go backeward and conitnue classifying the samples. -PREPARE_CLASSIFIER: - classifer_prepared -> LOAD_SAMPLES - Load some samples. +BACKWARD: + position_reached -> END + Ending this state machine. -- cgit v1.2.3