From aee65133f5500aa3659297f156786122668ffa66 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Fri, 18 Apr 2008 00:56:07 +0200 Subject: Modified gutter FSM to go to the Wall after putting the robot back to the gutter. --- digital/io/src/gutter.fsm | 14 +++++++++++++- 1 file changed, 13 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 906feaf9..a8b1409a 100644 --- a/digital/io/src/gutter.fsm +++ b/digital/io/src/gutter.fsm @@ -3,16 +3,28 @@ gutter States: IDLE + ROTATE_REAR_SIDE_TO_GUTTER + GO_TO_THE_GUTTER_WALL OPEN_COLLECTOR CLOSE_COLLECTOR Events: start + rotation_done + ready collector_opened collector_closed IDLE: - start -> OPEN_COLLECTOR + start -> ROTATE_REAR_SIDE_TO_GUTTER + Pur the robot back to the gutter to allow it to drop the balls in the gutter. + +ROTATE_REAR_SIDE_TO_GUTTER: + rotation_done -> GO_TO_THE_GUTTER_WALL + The rotation is done, the robot can go to the wall in backward mode to drop the balls in the gutter. + +GO_TO_THE_GUTTER_WALL: + ready -> OPEN_COLLECTOR Open the collector and wait for a while. OPEN_COLLECTOR: -- cgit v1.2.3