From cfc72a8fea2d8ce7f442f7f7612e1b50eb5664fc Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Fri, 14 May 2010 13:06:29 +0200 Subject: digital/io/src: add blocking handling --- digital/io/src/top.fsm | 12 ++++++++++++ 1 file changed, 12 insertions(+) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index c33923f6..4bebcdaa 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -19,6 +19,8 @@ States: move loader to up position UNLOAD_FACE_BIN orient robot to unload angle + UNLOAD_FACE_BIN_UNBLOCK + move backward to unblock UNLOAD_BACK_BIN move back to unload bin UNLOAD_UNLOAD[timeout=225] @@ -97,10 +99,20 @@ UNLOAD: UNLOAD_LOADER_UP: loader_uped -> UNLOAD_FACE_BIN turn toward bin + loader_errored -> UNLOAD_FACE_BIN + turn toward bin UNLOAD_FACE_BIN: bot_move_succeed -> UNLOAD_BACK_BIN go backward to bin + bot_move_failed -> UNLOAD_FACE_BIN_UNBLOCK + move backward + +UNLOAD_FACE_BIN_UNBLOCK: + bot_move_succeed -> UNLOAD_FACE_BIN + turn toward bin + bot_move_failed -> UNLOAD_FACE_BIN + turn toward bin UNLOAD_BACK_BIN: bot_move_succeed -> UNLOAD_UNLOAD -- cgit v1.2.3