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    Defenseh

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    api-397509789
    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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    Defenseh

    Uploaded by

    api-397509789
    25 views1 page
    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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    defenseh

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    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.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    25 views1 page

    Defenseh

    Uploaded by

    api-397509789
    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.

    Copyright:

    © All Rights Reserved
    Download as DOCX, PDF, TXT or read online from Scribd
    Download as docx, pdf, or txt
    of 1

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

    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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