From ea8d7c80227602af4e51bf550b0bd715ea5f4e49 Mon Sep 17 00:00:00 2001 From: NĂ©lio Laranjeiro Date: Sat, 29 Mar 2008 16:55:12 +0100 Subject: Added the fsm for the gutter, The open and close commande for the collector are missing. --- digital/io/src/gutter/gutter.fsm | 6 ++++++ 1 file changed, 6 insertions(+) (limited to 'digital/io/src/gutter/gutter.fsm') diff --git a/digital/io/src/gutter/gutter.fsm b/digital/io/src/gutter/gutter.fsm index af15c87a..158c8d13 100644 --- a/digital/io/src/gutter/gutter.fsm +++ b/digital/io/src/gutter/gutter.fsm @@ -2,17 +2,23 @@ get_samples States: + START GO_TO_GUTTER OPEN_COLLECTOR CLOSE_COLLECTOR END Events: + ok position_reached position_failed collector_opened collector_closed +START: + ok -> GO_TO_GUTTER + Go to the gutter. + GO_TO_GUTTER: position_reached -> OPEN_COLLECTOR The robo is near the gutter and the door can be opened. -- cgit v1.2.3