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    Car C

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    api-385142684
    The document describes a state machine that controls a toy car through various states like initializing, waiting for placement, moving forward and resetting. It defines functions for initializing the car, moving it forward and backward, and stopping it through PWM duty cycles. The state machine transitions between states based on events from limit switches, button presses, and timers.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Car C

    Uploaded by

    api-385142684
    98 views5 pages
    The document describes a state machine that controls a toy car through various states like initializing, waiting for placement, moving forward and resetting. It defines functions for initializing the car, moving it forward and backward, and stopping it through PWM duty cycles. The state machine transitions between states based on events from limit switches, button presses, and timers.

    Original Title

    car

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    The document describes a state machine that controls a toy car through various states like initializing, waiting for placement, moving forward and resetting. It defines functions for initializing the car, moving it forward and backward, and stopping it through PWM duty cycles. The state machine transitions between states based on events from limit switches, button presses, and timers.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    98 views5 pages

    Car C

    Uploaded by

    api-385142684
    The document describes a state machine that controls a toy car through various states like initializing, waiting for placement, moving forward and resetting. It defines functions for initializing the car, moving it forward and backward, and stopping it through PWM duty cycles. The state machine transitions between states based on events from limit switches, button presses, and timers.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 5

    Car.

    c
    \\ Implements SM that controls the car motion via the key notes

    Module level variables: MyPriority, CurrentState, LastInput_CarPlace,


    LastInput_LimitHome, LastInput_LimitEnd, ResetEarly,

    Module defines: PWM_DUTY_Cycle, PWM_DUTY_CYCLE_REVERSE, PWM_FREQ,


    CAR_FORWARD_TIME

    Module Functions: Car_Init, Car_Forward, Car_Reverse, Car_Stop

    ******************************************************************************
    ****************************
    InitCar
    Takes a priority number, returns True

    Sets the priority of the service


    Initialize the hardware (Car motor PWM channels, button pins, limit switches)
    Sample the port lines and use it to initialize the LastInput variables
    Set the CurrentState to InitializingCar
    Post an ES_Init event to this state machine
    Output and error if unsuccessful
    END of InitCar

    PostCar
    Takes Event, returns True

    Posts an event to Car service


    END of PostCar

    RunCar
    Event Types: ES_Init, CAR_PLACED, MoveForward, LimitEnd, ES_TIMEOUT, VICTORY,
    WELCOME_AUDIO, LIMIT_END, LIMIT_HOME, EARLY_RESET, CORRECT_NOTE, TIMEOUT_POT,
    HEADPHONES_RESET

    Returns ES_NO_EVENT
    Local Variables: NextState

    Switch based on CurrentState


    CurrentState is InitializingCar
    If ThisEvent is ES_Init
    Set NextState to WelcomeCar
    EndIf
    End InitializingCar Block

    CurrentState is WelcomeCar
    If ThisEvent is WELCOME_AUDIO
    Set NextState to WaitingForPlacement
    EndIf
    If ThisEvent is LIMIT_END
    Stop car
    EndIf
    If ThisEvent is LIMIT_HOME
    Stop car
    EndIf
    End WelcomeCar Block

    CurrentState is WaitingForPlacement
    If ThisEvent is CAR_PLACED
    Set NextState to MusicSequence
    PostEvent Car_Placed to all services
    EndIf
    If ThisEvent is EARLY_RESET
    Set NextState to WelcomeCar
    EndIf
    If ThisEvent is LIMIT_END
    Stop car
    EndIf
    If ThisEvent is LIMIT_HOME
    Stop car
    EndIf
    End WaitingForPlacement Block

    CurrentState is MusicSequence
    If ThisEvent is CORRECT_NOTE
    Start car timer
    Write motor drive forward
    Set NextState to MusicSequence
    EndIf

    If ThisEvent is LimitEnd
    Write motor to stop
    Write motor to reverse
    Set NextState to CarResetting
    EndIf

    If ThisEvent is ES_TIMEOUT & parameter is car timer


    Write motor to stop
    Set NextState to MusicSequence
    EndIf

    If ThisEvent is TIMEOUT_POT or VICTORY


    Write motor drive forward
    Set NextState to MovingToEnd
    ElseIf ThisEvent is HEADPHONES_RESET or EARLY_RESET
    Set ResetEarly to 1
    Write motor drive forward
    Set NextState to MovingToEnd
    EndIf

    CurrentState is MovingToEnd
    If ThisEvent is LimitEnd
    Write motor stop
    Write motor drive reverse
    Set NextState to CarResetting
    EndIf
    If ThisEvent is HEADPHONES_RESET or EARLY_RESET
    Set ResetEarly to 1
    EndIf
    EndMovingtoEndBlock

    CurrentState is CarResetting
    If ThisEvent is LimitHome
    Write motor stop
    Set NextState to WaitingForHeadphones
    EndIf
    If ThisEvent is HEADPHONES_RESET or EARLY_RESET
    Set ResetEarly to 1
    EndIf
    EndCarResettingBlock

    CurrentState is WaitingForHeadphones
    If ThisEvent is HEADPHONES_RESET or ResetEarly equals 1
    Set ResetEarly to 0
    Set NextState to WelcomeCar
    EndIf
    EndWaitingForHeadphonesBlock
    Set CurrentState to NextState
    Return ES_No_Event
    END of RunCar

    Functions

    CheckCarPlace
    Takes no parameters, returns true if an event was posted
    Local Variable: CurrentInput_CarPlace

    Sample the port line and use it to initialize the CurrentInput_CarPlace variable
    If CurrentInput_CarPlace not equals to LastInput_Car Place and
    Current_Input_CarPlace is lo
    PostEvent CAR_PLACED to this service
    Set ReturnVal to true
    EndIf
    Set LastInput_CarPlace to CurrentInput_CarPlace
    Return ReturnVal
    CheckLimitEnd
    Takes no parameters, returns True if an event was posted
    Local Variable: CurrentInput_LimitEnd

    Sample the port line and use it to initialize the CurrentInput_LimitEnd variable
    If CurrentInput_LimitEnd not equals to LastInput_LimitEnd and
    Current_Input_LimitEnd is hi
    PostEvent LIMIT_END to this service
    Set ReturnVal to true
    EndIf
    Set LastInput_LimitEnd to CurrentInput_LimitEnd
    Return ReturnVal

    CheckLimitHome
    Takes no parameters, returns True if an event was posted
    Local Variable: CurrentInput_LimitHome

    Sample the port line and use it to initialize the CurrentInput_LimitHome variable
    If CurrentInput_LimitHome not equals to LastInput_LimitHome and
    Current_Input_LimitHome is hi
    PostEvent LIMIT_HOME to this service
    Set ReturnVal to true
    EndIf
    Set LastInput_LimitHome to CurrentInput_LimitHome
    Return ReturnVal

    Car_Init
    Takes no parameters, returns nothing
    Initializes the car ports.

    Car_Forward
    Takes no parameters, returns nothing
    Local Variables: dutyCycle_PWM0, channel_PWM0 , dutyCycle_PWM1, channel_PWM1,
    reqFreq, group

    Set the duty cyles for PWM0 and PWM1


    Set the required frequency for the group

    Car_Stop
    Takes no parameters, returns nothing
    Local Variables: dutyCycle_PWM0, channel_PWM0 , dutyCycle_PWM1, channel_PWM1,
    reqFreq, group

    Set the duty cyles for PWM0 and PWM1


    Set the required frequency for the group

    Car_Reverse
    Takes no parameters, returns nothing
    Local Variables: dutyCycle_PWM0, channel_PWM0 , dutyCycle_PWM1, channel_PWM1,
    reqFreq, group

    Set the duty cyles for PWM0 and PWM1


    Set the required frequency for the group

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