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Linefollowingh

This document contains header information for a line following state machine including typedefs for states like DRIVING_FORWARD and PID_CONTROL. It defines public function prototypes for running and starting the state machine, querying the current state, and checking if a wire is detected.

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61 views1 page

Linefollowingh

This document contains header information for a line following state machine including typedefs for states like DRIVING_FORWARD and PID_CONTROL. It defines public function prototypes for running and starting the state machine, querying the current state, and checking if a wire is detected.

Uploaded by

api-397509789
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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/****************************************************************************

LineFollowing 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 LineFollowing_SM_H
#define LineFollowing_SM_H

// typedefs for the states


// State definitions for use with the query function
typedef enum { DRIVING_FORWARD, PID_CONTROL, SQUARE_UP} LineFollowingState_t
;

// Public Function Prototypes

ES_Event_t RunLineFollowingSM( ES_Event_t CurrentEvent );


void StartLineFollowingSM ( ES_Event_t CurrentEvent );
LineFollowingState_t QueryLineFollowingSM ( void );
bool Check4Wire(void);
bool IsOnWire(void);

#endif /*LineFollowing_SM_H */

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