From 1bcff7dbcbb284f5564ac708292b23fd447395a9 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sat, 3 May 2008 11:15:31 +0200 Subject: * digital/io/src * top FSM - change the position where to drop balls at the gutter (to prevent the order of dropped balls to change) ; - change the order of balls taken at the distributor: first two samples with three ice, then three samples with two ice. * get samples FSM - manage the case where the arm passed the noted position in the state where it should not (because the arm was blocked) ; - add some debug messages. * gutter FSM - reduce the time spent to drop the balls at the gutter. * move FSM - update the algorithm to avoid obstacle: when a obstacle is seen, first way, then if it is not present anymore continue, otherwise, try to find an alternative path; if none found, wait again. * chrono - near end of the match time increased to 83s. --- digital/io/src/move.fsm | 14 +++++++++----- 1 file changed, 9 insertions(+), 5 deletions(-) (limited to 'digital/io/src/move.fsm') diff --git a/digital/io/src/move.fsm b/digital/io/src/move.fsm index 317f25d8..c08d0454 100644 --- a/digital/io/src/move.fsm +++ b/digital/io/src/move.fsm @@ -91,9 +91,13 @@ MOVING_TO_INTERMEDIATE_POSITION: move backward to turn freely WAIT_FOR_CLEAR_PATH: - wait_finished: obstacle -> . - check for obstacle using stored moving direction - post an event for the top FSM to be waked up later wait_finished: no_obstacle -> MOVING_TO_FINAL_POSITION - check for obstacle using stored moving direction - try to go the final position + ask the asserv to go to the final position + wait_finished: obstacle_and_intermediate_path_found -> MOVING_TO_INTERMEDIATE_POSITION + compute the obstacle position + get next intermediate position from path module + go to next intermediate position + wait_finished: obstacle_and_no_intermediate_path_found -> . + compute the obstacle position + get next intermediate position from path module failed + post an event for the top FSM to be waked up later -- cgit v1.2.3