Real
stateDiagram-v2
start_get_box : 収納後スタートゾーンに
start_get_box : set_get_box_mode(False)
start_position_0 : set_position(1.0, 1.0, 180.0)
start_pylon_height : set_pylon_arm_height(right = 0.0, left = 0.0)
start_pylon_expand : set_pylon_arm_expand(right = 90, left = 90)
start_box_arm_height : set_box_arm_height(0.9)
start_box_arm_expand : set_box_arm_expand(0.0)
start_e_arm : set_e_arm(expand = 0, get = 0.00)
start_position_1 : set_position(0.6, 0.5, 180.0)
# [*] --> start_get_box
start_get_box --> start_pylon_height
start_pylon_height --> start_pylon_expand
start_pylon_expand --> start_box_arm_height
start_box_arm_height --> start_box_arm_expand
start_box_arm_expand --> start_e_arm
start_e_arm --> start_position_0
start_position_0 --> start_position_1 : check_pylon_arm() and check_e_arm() and check_box_arm()
pylon_0_position_get : パイロン0 移動
pylon_0_position_get : set_position(3.0, 1.15, 180.0)
pylon_0_position_drop : set_position(5.0, 1.15, 180.0)
pylon_0_position_out_0 : set_position(6.0, 1.15, 180.0)
pylon_0_position_out_1 : set_position(5.0, 1.15, 180.0)
pylon_0_box_arm_expand : set_box_arm_expand(90)
pylon_0_box_arm_height : set_box_arm_height(0.0)
pylon_0_box_arm_hand : set_box_arm_hand(right = 0.0, left = 0.0)
# start_position_1 --> pylon_0_position_get
# start_position_1 --> pylon_12_position_out
pylon_0_position_get --> pylon_0_position_drop
pylon_0_position_drop --> pylon_0_position_out_0
pylon_0_position_out_0 --> pylon_0_position_out_1
pylon_0_position_out_1 --> pylon_0_box_arm_expand
pylon_0_box_arm_expand --> pylon_0_box_arm_height
pylon_0_box_arm_height --> pylon_0_box_arm_hand
e_0_pylon_height_init : E0 回収
e_0_pylon_height_init : set_pylon_arm_height(right = 0.15, left = 0.15)
e_0_pylon_expand_init : set_pylon_arm_expand(right = 0, left = 0)
e_0_pylon_rpm_init : set_pylon_arm_rpm(right = 250, left = 250)
e_0_e_arm_expand : set_e_arm(expand = 180.0)
e_0_conveyor_init : set_conveyor_rpm(right = 400, left = 400)
e_0_position_init_0 : set_position(8.9, 3.5, 90.0)
e_0_position_init_1 : set_position(8.9, 4.0, 90.0)
e_0_position_get : set_position(8.9, 4.7, 90.0)
e_0_pylon_expand_get : set_pylon_arm_expand(right = 40, left = 40)
pylon_0_box_arm_hand --> e_0_pylon_height_init
e_0_pylon_height_init --> e_0_pylon_expand_init
e_0_pylon_expand_init --> e_0_pylon_rpm_init
e_0_pylon_rpm_init --> e_0_e_arm_expand
e_0_e_arm_expand --> e_0_conveyor_init
e_0_conveyor_init --> e_0_position_init_0
e_0_position_init_0 --> e_0_position_init_1
e_0_position_init_1 --> e_0_position_get
e_0_position_get --> e_0_pylon_expand_get
e_0_pylon_height_hold : E0 保持完了
e_0_pylon_height_hold : set_pylon_arm_height(right = 0.1, left = 0.1)
e_0_pylon_expand_hold : set_pylon_arm_expand(right = 0, left = 0)
e_0_pylon_rpm_hold : set_pylon_arm_rpm(right = 0, left = 0)
e_0_conveyor_hold : set_conveyor_rpm(right = 0, left = 0)
e_0_position_hold : set_position(8.9, 3.5, 90.0)
# e_0_pylon_expand_get --> e_0_pylon_height_hold : check_pylon_arm()
e_0_pylon_height_hold --> e_0_pylon_expand_hold
e_0_pylon_expand_hold --> e_0_pylon_rpm_hold
e_0_pylon_rpm_hold --> e_0_conveyor_hold
e_0_conveyor_hold --> e_0_position_hold
e_0_position_drop : E0 吐き出し
e_0_position_drop : set_position(4.5, 3.5, 90.0)
e_0_pylon_height_drop : set_pylon_arm_height(right = 0.2, left = 0.2)
e_0_pylon_rpm_drop : set_pylon_arm_rpm(right = 0, left = 0)
e_0_conveyor_drop : set_conveyor_rpm(right = -400, left = -400)
e_0_position_drop_out : set_position(4.5, 3.0, 90.0)
e_0_position_hold --> e_0_position_drop
e_0_position_drop --> e_0_pylon_height_drop
e_0_pylon_height_drop --> e_0_pylon_rpm_drop
e_0_pylon_rpm_drop --> e_0_conveyor_drop
e_0_conveyor_drop --> e_0_position_drop_out
e_12_pylon_height_init : E12 回収
e_12_pylon_height_init : set_pylon_arm_height(right = 0.15, left = 0.15)
e_12_pylon_expand_init : set_pylon_arm_expand(right = 0, left = 0)
e_12_pylon_rpm_init : set_pylon_arm_rpm(right = 250, left = 250)
e_12_conveyor_init : set_conveyor_rpm(right = 400, left = 400)
e_12_position_init_0 : set_position(9.2, 3.5, 90.0)
e_12_position_init_1 : set_position(9.2, 4.0, 90.0)
e_12_position_get : set_position(9.2, 4.7, 90.0)
e_12_pylon_expand_get : set_pylon_arm_expand(right = 40, left = 40)
e_0_position_drop_out --> e_12_pylon_height_init
e_12_pylon_height_init --> e_12_pylon_expand_init
e_12_pylon_expand_init --> e_12_pylon_rpm_init
e_12_pylon_rpm_init --> e_12_conveyor_init
e_12_conveyor_init --> e_12_position_init_0
e_12_position_init_0 --> e_12_position_init_1
e_12_position_init_1 --> e_12_position_get
e_12_position_get --> e_12_pylon_expand_get
e_12_pylon_height_hold : E12 保持完了
e_12_pylon_height_hold : set_pylon_arm_height(right = 0.115, left = 0.115)
e_12_pylon_expand_hold : set_pylon_arm_expand(right = 0, left = 0)
e_12_pylon_rpm_hold : set_pylon_arm_rpm(right = 0, left = 0)
e_12_conveyor_hold : set_conveyor_rpm(right = 0, left = 0)
e_12_position_hold : set_position(9.2, 3.5, 90.0)
# e_12_pylon_expand_get --> e_12_pylon_height_hold : check_box_arm()
e_12_pylon_height_hold --> e_12_pylon_expand_hold
e_12_pylon_expand_hold --> e_12_pylon_rpm_hold
e_12_pylon_rpm_hold --> e_12_conveyor_hold
e_12_conveyor_hold --> e_12_position_hold
e_12_position_drop : E12 吐き出し
e_12_position_drop : set_position(3.0, 4.0, 90.0)
e_12_pylon_height_drop : set_pylon_arm_height(right = 0.2, left = 0.2)
e_12_pylon_rpm_drop : set_pylon_arm_rpm(right = 0, left = 0)
e_12_conveyor_drop : set_conveyor_rpm(right = -400, left = -400)
e_12_position_drop_out : set_position(3.0, 3.0, 90.0)
e_12_position_hold --> e_12_position_drop
e_12_position_drop --> e_12_pylon_height_drop
e_12_pylon_height_drop --> e_12_pylon_rpm_drop
e_12_pylon_rpm_drop --> e_12_conveyor_drop
e_12_conveyor_drop --> e_12_position_drop_out
pylon_12_position_setup_0 : パイロン12 移動
pylon_12_position_setup_0 : set_position(1.5, 2.0, 0.0)
pylon_12_pylon_expand : set_pylon_arm_expand(right = 90, left = 90)
pylon_12_conveyor_stop : set_conveyor_rpm(right = 0, left = 0)
pylon_12_position_setup_1 : set_position(1.5, 1.2, 0.0)
e_12_position_drop_out --> pylon_12_position_setup_0
pylon_12_position_setup_0 --> pylon_12_pylon_expand
pylon_12_pylon_expand --> pylon_12_conveyor_stop
pylon_12_conveyor_stop --> pylon_12_position_setup_1
pylon_12_position_get : set_position(2.6, 1.2, 0.0)
pylon_12_position_drop : set_position(6.0, 1.2, 0.0)
pylon_12_position_out : set_position(5.0, 1.2, 0.0)
pylon_12_position_setup_1 --> pylon_12_position_get
pylon_12_position_get --> pylon_12_position_drop
pylon_12_position_drop --> pylon_12_position_out
ex_0_init : 専有0
ex_0_init : set_position(7.0, 3.4, 90.0)
ex_0_height : set_box_arm_height(0.0)
ex_0_hand_init : set_box_arm_hand(right = 0.55, left = 0.55)
ex_0_setup : set_position(9.5, 3.4, 90.0)
ex_0_mode : set_get_box_mode(True)
ex_0_get : set_position(9.5, 2.5, 90.0)
ex_0_hand_ok : set_box_arm_hand(right = 0.4, left = 0.4)
ex_0_height_ok : set_box_arm_height(0.2)
ex_0_get_ok : set_position(9.5, 3.5, 90.0)
pylon_12_position_out --> ex_0_init
ex_0_init --> ex_0_height
ex_0_height --> ex_0_hand_init
ex_0_hand_init --> ex_0_setup
ex_0_setup --> ex_0_mode
ex_0_mode --> ex_0_get : check_box_arm()
ex_0_get --> ex_0_hand_ok
ex_0_hand_ok --> ex_0_height_ok : check_box_arm()
ex_0_height_ok --> ex_0_get_ok : check_box_arm()
gate_0_init : ゲート作成0
gate_0_init : set_position(3.5, 2.0, 90.0)
gate_0_turn : set_position(3.5, 2.0, 180.0)
gate_0_height : set_box_arm_height(0.0)
gate_0_hand : set_box_arm_hand(right = 0.5, left = 0.5)
gate_0_out : set_position(2.0, 2.0, 180.0)
ex_0_get_ok --> gate_0_init
gate_0_init --> gate_0_turn
gate_0_turn --> gate_0_height
gate_0_height --> gate_0_hand : check_box_arm()
gate_0_hand --> gate_0_out : check_box_arm()
e_init : E回収
e_init : set_position(2.0, 3.0, 0.0)
gate_0_out --> e_init
ex_1_height_init : 専有1
ex_1_height_init : set_box_arm_height(0.9)
ex_1_init : set_position(8.5, 3.0, 0.0)
ex_1_setup : set_position(9.5, 3.0, 0.0)
ex_1_hand_init : set_box_arm_hand(right = 0.55, left = 0.55)
ex_1_get : set_position(9.5, 1.0, 0.0)
ex_1_get_ok : set_position(8.5, 1.0, 0.0)
ex_1_height_ok : set_box_arm_height(0.0)
ex_1_hand_ok : set_box_arm_hand(right = 0.3, left = 0.3)
e_init --> ex_1_height_init
ex_1_height_init --> ex_1_init
ex_1_init --> ex_1_setup
ex_1_setup --> ex_1_hand_init
ex_1_hand_init --> ex_1_get
ex_1_get --> ex_1_get_ok : check_box_arm()
ex_1_get_ok --> ex_1_height_ok
ex_1_height_ok --> ex_1_hand_ok : check_box_arm()
gate_1_init : ゲート作成1
gate_1_init : set_position(4.0, 2.0, 0.0)
gate_1_height : set_box_arm_height(0.9)
gate_1_ok : set_position(3.5, 2.0, 0.0)
gate_1_out : set_position(4.0, 2.0, 0.0)
ex_1_hand_ok --> gate_1_init
gate_1_init --> gate_1_height
gate_1_height --> gate_1_ok : check_box_arm()
gate_1_ok --> gate_1_out
people_setup : 台車連結
people_setup : set_position(9.5, 1.0, 90.0)
people_pylon_height : set_pylon_arm_height(right = 0.0, left = 0.0)
people_pylon_expand : set_pylon_arm_expand(right = 90, left = 90)
people_box_arm_height : set_box_arm_height(0.9)
people_box_arm_expand : set_box_arm_expand(0.0)
people_e_arm : set_e_arm(expand = 0, get = 0.00)
people_gate : set_position(2.0, 2.0, 90.0)
gate_1_out --> people_setup
people_setup --> people_pylon_height
people_pylon_height --> people_pylon_expand
people_pylon_expand --> people_box_arm_height
people_box_arm_height --> people_box_arm_expand
people_box_arm_expand --> people_e_arm
people_e_arm --> people_gate : check_box_arm() and check_e_arm() and check_pylon_arm()