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Hierarchical State Machine Defense

This header file defines functions and data types for a hierarchical state machine to control a robot's defense behavior. It defines an enumerated type for the different defense states like rotating clockwise, driving straight, or waiting at a goal. It also prototypes public functions for running and starting the state machine, querying the current state, and checking for sharp sensor events.

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41 views1 page

Hierarchical State Machine Defense

This header file defines functions and data types for a hierarchical state machine to control a robot's defense behavior. It defines an enumerated type for the different defense states like rotating clockwise, driving straight, or waiting at a goal. It also prototypes public functions for running and starting the state machine, querying the current state, and checking for sharp sensor events.

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api-397509789
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/****************************************************************************

Defense header file for Hierarchical Sate Machines AKA StateCharts


02/08/12 adjsutments for use with the Events and Services Framework Gen2
3/17/09 Fixed prototpyes to use Event_t

****************************************************************************/

#ifndef Defense_SM_H
#define Defense_SM_H

// typedefs for the states


// State definitions for use with the query function
//typedef enum { LINE_FOLLOWING_DEFENSE, ROTATING_CW, DRIVING_STRAIGHT,
WAITING_AT_GOAL, ROTATING_CCW, ROTATING_CW_EDGE_CASE } DefenseState_t ;
typedef enum {ROTATING_CW, DRIVING_STRAIGHT, WAITING_AT_GOAL, ROTATING_CW_2,
DRIVING_STRAIGHT_2, WAITING_AT_OPPONENT_RELOADER } DefenseState_t ;

// Public Function Prototypes

ES_Event_t RunDefenseSM( ES_Event_t CurrentEvent );


void StartDefenseSM ( ES_Event_t CurrentEvent );
DefenseState_t QueryDefenseSM ( void );
bool Check4SharpEvents(void);

#endif /*Defense_SM_H */

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