From 99a771f6a8d6cfd2c574ba330e9c2c8f875231aa Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 13 May 2010 12:15:15 +0200 Subject: digital/io/src: add collect after homologation move --- digital/io/src/top.fsm | 22 ++++++++++++++++++++-- 1 file changed, 20 insertions(+), 2 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index 9a6b176c..76a067a8 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -17,12 +17,18 @@ States: unblock problem with loader, move loader up FIRST_GO_END_OF_LINE_UNBLOCKING unblock problem with loader, go backward + UNLOAD + go to unloading position UNLOAD_LOADER_UP move loader to up position UNLOAD_FACE_BIN orient robot to unload angle UNLOAD_BACK_BIN move back to unload bin + UNLOAD_UNLOAD[timeout=225] + unloading, wait + COLLECT + collecting elements Events: start @@ -109,8 +115,20 @@ UNLOAD_FACE_BIN: go backward to bin UNLOAD_BACK_BIN: - bot_move_succeed -> IDLE + bot_move_succeed -> UNLOAD_UNLOAD unload - bot_move_failed -> IDLE + bot_move_failed -> UNLOAD_UNLOAD unload +UNLOAD_UNLOAD: + state_timeout -> COLLECT + close gate + loader down + choose best food to collect + +COLLECT: + move_fsm_succeed: unload -> UNLOAD + move_fsm_succeed: collect -> COLLECT + move_fsm_failed: unload -> UNLOAD + move_fsm_failed: collect -> COLLECT + -- cgit v1.2.3