From e07581bda7c35dad9f35f7d6d7c4ee34acdec6f0 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Mon, 18 May 2009 17:46:37 +0200 Subject: * digital/io/src: - update top FSM to be valid with the new init FSM. --- digital/io/src/top.fsm | 50 +++++++++++++++++++++++++++++++------------------- 1 file changed, 31 insertions(+), 19 deletions(-) (limited to 'digital/io/src/top.fsm') diff --git a/digital/io/src/top.fsm b/digital/io/src/top.fsm index f26468fc..3c3eaa7e 100644 --- a/digital/io/src/top.fsm +++ b/digital/io/src/top.fsm @@ -4,39 +4,51 @@ top States: IDLE - waiting for the beginning of the top FSM - WAIT_JACK_IN - waiting for the jack to be inserted into the bot - WAIT_JACK_OUT - waiting for the jack to be removed from the bot + waiting for the beginning of the top FSM. + WAIT_FIRST_JACK_IN + waiting for the jack to be inserted into the bot for the first time. + WAIT_FIRST_JACK_OUT + waiting for the jack to be removed from the bot for the first time. + WAIT_SECOND_JACK_IN + waiting for the jack to be inserted into the bot for the second time. + WAIT_SECOND_JACK_OUT + waiting for the jack to be removed into the bot for the second time. GET_PUCK_FROM_THE_GROUND - get some pucks from the ground + get some pucks from the ground. GET_PUCK_FROM_DISTRIBUTOR - get some pucks from the distributor + get some pucks from the distributor. Events: start - initialize the FSM + initialize the FSM. move_fsm_finished - when the move FSM returns + when the move FSM returns. jack_inserted_into_bot - the jack is inserted into the bot + the jack is inserted into the bot. jack_removed_from_bot - the jack is removed from the bot + the jack is removed from the bot. state_timeout - timeout in cycle count + timeout in cycle count. asserv_last_cmd_ack - last command sent to the asserv board has been acquitted + last command sent to the asserv board has been acquitted. IDLE: - start -> WAIT_JACK_IN + start -> WAIT_FIRST_JACK_IN nothing to do. -WAIT_JACK_IN: - jack_inserted_into_bot -> WAIT_JACK_OUT - configure the asserv board. +WAIT_FIRST_JACK_IN: + jack_inserted_into_bot -> WAIT_FIRST_JACK_OUT + nothing to do. + +WAIT_FIRST_JACK_OUT: + jack_removed_from_bot -> WAIT_SECOND_JACK_IN + nothing to do. + +WAIT_SECOND_JACK_IN: + jack_removed_from_bot -> WAIT_SECOND_JACK_OUT + nothing to do. -WAIT_JACK_OUT: +WAIT_SECOND_JACK_OUT: jack_removed_from_bot -> GET_PUCK_FROM_THE_GROUND - the match start, start the chronometer + the match start, try to get some puck from the ground. -- cgit v1.2.3