Closed stephanemagnenat closed 7 years ago
The bug is in the generated return
statements if a transition is taken, the first being in line 127. It is a problem because the transitions for the other threads are not tested, and therefore they cannot be re-initilaized.
A solution to this problem is to put the test of the transitions in a subroutine.
New generated code, please test in asebastudio with event "transition" (2 arguments) 26.txt
With this code, the robot works correctly and never gets out of the track.
The following program in VPL1 works perfectly, both in simulation and in the real robot:
The corresponding code being:
However, the corresponding code in VPL2:
easily losses the track.
From the behaviour of the robot, it seems that the sensors are under-sampled, although the tests are made in the
onevent prox
handler.