Diff: StateMachine/StateMachine.hpp

Revision:

24:c7d9b5bf3829

Parent:

23:434f04ef1fad

Child:

27:0a5b90cd65d6

--- a/StateMachine/StateMachine.hpp	Tue Nov 28 18:00:09 2017 +0000
+++ b/StateMachine/StateMachine.hpp	Wed Nov 29 15:19:14 2017 +0000
@@ -82,19 +82,16 @@
     int _state;                 // Fine State Machine (FSM) state
     int _sub_state;             // substate on find_neutral function
     int _previous_sub_state;    // previous substate so that what goes into the sub-state is not being changed as it is processed
-    float _neutral_sink_timer;  // keep time for sink incremnets
-    float _neutral_rise_timer;  // keep time for rise increment
-    float _level_timer;         // keep time for finding level increments
+    float _neutral_timer;  // keep time for rise/sink/level timer incremnets
     
     bool isTimeoutRunning;
     
-    float previousPosition_mm;
     bool isSubStateTimerRunning;
     
     float _neutral_bce_pos_mm;
     float _neutral_batt_pos_mm;
     
-    int _state_counter;
+    int _multi_dive_counter;
     currentSequenceStruct currentStateStruct;   //type_of_struct struct_name
     
     bool _neutral_sub_state_active;             // controls neutral_sub_state
@@ -107,8 +104,10 @@
     float _pitch_KI;
     float _pitch_KD;
     
-    int _state_array[1024];                    //print out the states
-    int _state_array_counter;
+    int _state_array[1024];                     //used to print out the states
+    int _state_array_counter;                   //variables used to record NEUTRAL sub-FSM states
+    int _substate;
+    int _previous_substate;
 };
  
 #endif
\ No newline at end of file