Diff: main.cpp

Revision:

3:9c63fc5f157e

Parent:

2:d70795e4e0bf

Child:

4:5ce2c8864908

--- a/main.cpp	Wed Oct 31 11:21:16 2018 +0000
+++ b/main.cpp	Wed Oct 31 11:51:03 2018 +0000
@@ -22,11 +22,78 @@
 states currentState = waiting;      // start in waiting mode
 bool changeState = true;            // initialise the first state
 
+
+
 // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ STATE MACHINE ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡
+void stateMachine(void)
+{
+    switch (currentState) {         // determine which state Odin is in
+
+// =============================== WAITING MODE ================================
+        case waiting:
+// ------------------------------ INITIALISATION -------------------------------
+            if (changeState) {                  // when entering the state
+                if (externalPC)  {              //    when external pc is connected
+                    pc.printf("waiting...\r\n");   // print current state
+                }
+                changeState = false;            // stay in this state
+
+                // Actions when entering state
+
+                /*  */
+
+            }
+// ---------------------------------- ACTION -----------------------------------
+            // Actions for each loop iteration
+            
+// -------------------------------- TRANSITION ---------------------------------
+            // Transition condition #1
+            if () {
+                // Actions when leaving state
+                currentState = ;                    // change to state
+                changeState = true;                 // next loop, switch states
+            }
+            break; // end case
+            
+// ========================== MOTOR CALIBRATION MODE ===========================
+        case calibratingMotors:
+// ------------------------------ INITIALISATION -------------------------------
+            if (changeState) {                  // when entering the state
+                if (externalPC)  {              //    when external pc is connected
+                    pc.printf("calibrating motors...r\n");   // print current state
+                }
+                changeState = false;            // stay in this state
+
+                // Actions when entering state
+
+                /*  */
+
+            }
+// ---------------------------------- ACTION -----------------------------------
+            // Actions for each loop iteration
+            
+// -------------------------------- TRANSITION ---------------------------------
+            // Transition condition #1
+            if () {
+                // Actions when leaving state
+                currentState = ;                    // change to state
+                changeState = true;                 // next loop, switch states
+            }
+            
+            break; // end case
+            
+// ================================= DEFAULT ===================================
+        default:
+    }
+
+}
+
+
 
 // ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡ MAIN LOOP ≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡≡
 
-int main() {
+int main()
+{
 // ============================== PC-COMMUNICATION =============================
     bool externalPC = true;
     if (externalPC) {