From 23bce6a75a17b9cd9d3f35a251baa1b0635697a4 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sat, 3 May 2008 12:43:19 +0200 Subject: * digital/io/src - manage the event where the bot can be blocked (when moving) in the different FSM, by waiting and trying again ; - ensure we update the classifier (with the servos motor) even when the arm move in a state where it should not. --- digital/io/src/gutter.fsm | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) (limited to 'digital/io/src/gutter.fsm') diff --git a/digital/io/src/gutter.fsm b/digital/io/src/gutter.fsm index 966ee8f0..97163cc0 100644 --- a/digital/io/src/gutter.fsm +++ b/digital/io/src/gutter.fsm @@ -11,6 +11,8 @@ States: make the bot reversing against the gutter DROP_BALLS open the collector to let the balls fall into the gutter + WAIT_AND_TRY_AGAIN + ask the top FSM to wake us up in a few times Events: start @@ -38,9 +40,14 @@ GO_TO_THE_GUTTER_WALL: # preventing from fucking the wall # The best way is probably to abort this FSM with an error, tell the upper one # (top) we need to try at another place (the gutter is quite long). -# bot_move_failed + bot_move_failed -> WAIT_AND_TRY_AGAIN + ask the top FSM to wake us up in a few times DROP_BALLS: wait_finished -> IDLE close the rear panel tell the top FSM we have finished + +WAIT_AND_TRY_AGAIN: + wait_finished -> GO_TO_THE_GUTTER_WALL + try the fuck the wall again -- cgit v1.2.3