From 5b4cd3acddcf2ef7ad5c383fb93a0c27718f4da3 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Mon, 24 Mar 2008 23:33:59 +0100 Subject: FSM for the gutter. --- digital/io/src/gutter/gutter.fsm | 28 ++++++++++++++++++++++++++++ 1 file changed, 28 insertions(+) create mode 100644 digital/io/src/gutter/gutter.fsm (limited to 'digital/io/src/gutter/gutter.fsm') diff --git a/digital/io/src/gutter/gutter.fsm b/digital/io/src/gutter/gutter.fsm new file mode 100644 index 00000000..af15c87a --- /dev/null +++ b/digital/io/src/gutter/gutter.fsm @@ -0,0 +1,28 @@ +#FSM get samples +get_samples + +States: + GO_TO_GUTTER + OPEN_COLLECTOR + CLOSE_COLLECTOR + END + +Events: + position_reached + position_failed + collector_opened + collector_closed + +GO_TO_GUTTER: + position_reached -> OPEN_COLLECTOR + The robo is near the gutter and the door can be opened. + position_failed -> . + The position failed, shall try another path. + +OPEN_COLLECTOR: + collector_opened -> CLOSE_COLLECTOR + Wait some time and clse the door. + +CLOSE_COLLECTOR: + collector_closed-> END + The samples has been inserted in the gutter. -- cgit v1.2.3