File content as of revision 12:f6139597354e:

/* 
    This file controls the three states of the car 
    
*/
InterruptIn stop_button(PTD0);
InterruptIn run_button(PTD5); 
InterruptIn wait_button(PTA13);  
DigitalOut red_led(PTC16);
DigitalOut green_led(PTC13);
DigitalOut yellow_led(PTC12);
   
// Available states 
enum states {STOP, WAIT, RUN}; 

// Available LED colors 
enum led_colors {RED, YELLOW, GREEN};

void turn_leds_off(void){ yellow_led =0; green_led =0; red_led=0;};

// turns an led 
void turn_led(led_colors Color){
       turn_leds_off();
        switch(Color) {
        case RED    :    {red_led = 1;    green_led=0;   yellow_led=0;};  break;
        case YELLOW :    {yellow_led = 1; green_led =0;  red_led=0;};     break;
        case GREEN  :    {green_led = 1;  yellow_led =0; red_led=0;};     break;
        } 
    };

void _stop(void){
   steering_enabled =false;
   // enable_brakes();
    brakeLeftBool = true;
    brakeRightBool = true;
    motor_enabled = false;  
    turn_led(RED); 
 
    }; 
void _run(void){
    // TODO: realease brakes, start the motors
    // disable_brakes(); 
    brakeLeftBool = false;
    brakeLeftBool = false;
    motor_enabled = true; 
    setpointLeft = 0.4;
    setpointRight = 0.4;
    turn_led(GREEN); 
    };
void _wait(void){
     // release brakes, turn on steering system, do not start the motor
    
     // disable_brakes();
    brakeLeftBool = false;
    brakeLeftBool = false;
    motor_enabled = false;
    setpointLeft = 0.0;
    setpointRight = 0.0;
    steering_enabled = true;
     turn_led(YELLOW);
     };
     
states current_state = WAIT;    // By default the car waits
states prev_state = WAIT;
volatile bool _fault = false;
// This function gets called when a button is pushed
void state_update (void){ 
    current_state = (stop_button.read()==1 || _fault == true) ? STOP: ((run_button.read() ==1 && prev_state == WAIT) ? RUN : (wait_button.read() ==1 )? WAIT:  prev_state); 
    switch(current_state) {
        case STOP :  _stop();   break;
        case WAIT :  _wait();   break;
        case RUN  :  _run();    break;
        }
      prev_state = current_state;
    }
enum fault_list {CLEAR,OFF_TRACK, BUMPER, LOW_VOLTAGE};
fault_list fault_type=CLEAR;
void fault_check(void){
    batteryVoltage = battInput * 3.3 * battDividerScalar;
    avgCellVoltage = batteryVoltage / 3.0;
    if (left_distance_sensor.read() < (0.700/3.3) && right_distance_sensor.read()*3.3 < (0.700/3.3))
        {
          _fault = true;
          fault_type = OFF_TRACK;
        }
    /* else if (avgCellVoltage <= 3.4){
         _fault = true;
         fault_type = LOW_VOLTAGE;
         }*/
    else {                         //we should only set _fault to false when the user manually clears a fault w a button
        _fault = false; 
        fault_type = CLEAR;
        };
              
             
         /*
    else if (hit something){
             
             _fault = true; 
             fault_type = BUMPER;
         } 
     
    else if(low battery)
         _fault = true;
         fault_type = LOW_VOLTAGE;
    else {
        _faule =false; 
        fault_type = CLEAR;
        };
    */
    //_fault=true;
    
    state_update();
    };