From df86960a8825149382e162e04ef37667f0ebdd37 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 18 May 2009 13:03:52 +0200 Subject: * digital/io/src: - add event for the last command sent to the asserv board has been acquited, - make init FSM finish by returning to IDLE state (and not moving and moving again), - when in position, do a last turn, to face in the right position. --- digital/io/src/init.fsm | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'digital/io/src/init.fsm') diff --git a/digital/io/src/init.fsm b/digital/io/src/init.fsm index 8b9aa4dc..faf41e2b 100644 --- a/digital/io/src/init.fsm +++ b/digital/io/src/init.fsm @@ -34,6 +34,9 @@ Events: move_done the move is finished state_timeout + timeout. + asserv_last_cmd_ack + last command sent to the asserv board acquited. IDLE: start -> WAIT_JACK_IN @@ -68,5 +71,5 @@ GO_BACKWARD_AGAIN: set real position to asserv SET_POSITION: - move_done -> TURN_90_DEGREES_CCW + asserv_last_cmd_ack -> IDLE turn bot for 180 degrees counterclockwise -- cgit v1.2.3