TableofContentsforPseudoCode

PinAssignments
Interrupts/Priorities
Files:
Master_SM.c
PACLogic_SM.c
Capture_PS_SM
Request_SM.c
SendingCMD_SM.c
SendingByte_SM.c
AttackStrategy_SM.c
Attack_SM.c
Fire_SM.c
HallEffect_SM.c
PositionLogic_Service.c
PhotoTransitor_Service.c
GameInfo.c
Strategy_SM.c
Definitions.h
ControlLaws(DriveTrainControl_Service.c,CannonControl_Service.c)

PinAssignments

Pin#

SpecialFunction

Connectedto
PortA

A2

SSI_0Clock

PACModule

A3

SSI_0Fss

PACModule

A4

SSI_0Rx

PACModule

A5

SSI_0Tx

PACModule

A6

M1PWM2

NotusingforPWM

A7

M1PWM3

NotusingforPWM
PortB

B0

Red/BlueSwitch

B1

GameStatusIndicator(output)

B2

PACErrorIndicator

B3

B4

SSI_2Clock,M0PWM2

PeriscopeMotorPWM

B5

SSI_2Fss,M0PWM3

CannonPWM

B6

SSI_2Rx,M0PWM0

HopperServoPWM

B7

SSI_2Tx,M0PWM1

PeriscopeLatchPWM
PortC

C4

M0PWM6,WT0CCP0

PhotoTransistor

C5

M0PWM7,WT0CCP1

CannonEncoder

C6

WT1CCP0

PeriscopeEncoder1

C7

WT1CCP1

PeriscopeEncoder2
PortD

D0

SSI_1Clock,M0PWM6,M1PWM0,
WT2CCP0

HallSensor1

D1

SSI_1FSS,M0PWM7,M1PWM1,
WT2CCP1

HallSensor2

D2

SSI_1RX,WT3CCP0

HallSensor3

D3

SSI_1TX,WT3CCP1

HallSensor4

D4

WT4CCP0

NOCONNECTION!!
DriveControlLaw

D5

WT4CCP1

NOCONNECTION!!
CannonControlLaw

D6

WT5CCP0

DriveEncoderLeft

D7

WT5CCP1

DriveEncoderRight
PortE

E0

HBridgeL(Direction)

E1

HBridgeR(Direction)

E2

DriveEncoderLeft(forPolling)

E3

DriveEncoderRight(forPolling)

E4

M1PWM2

HBriidgeL(PWM)

E5

M1PWM3

HBridgeR(PWM)
PortF

F0

SSI_1_RX

F1

SSI_1_TX

F2

SSI_1CLK

F3

SSI_1FSS

F4

Interrupts/Priorities
InterruptName

Function

Priority

DriveEncoderLeft

DriveEncoderRight

PeriscopeEncoder

OrientPhototransistors

CannonEncoder

ControlSpeedof

PhotoTransistorLeft

IdentifyBeacon

PhotoTransistorRight

IdentifyBeacon

SPIInterrupt

ReceiveCommands

HallSensors

PollingStation

Master_SM.c
boolInitMasterSM(uint8_tPriority)
DeclareEvent
Setprioritytoequalourpriority
SeteventtobeES_Entry
CalltheStartMasterSM
returnTrue

boolPostMasterSM(ESEventThisEvent)
returnES_PostToService

ES_EventRunMasterSM(ES_EventCurrentEvent)
CurrentEvent=CallourDuringMasterfunctionpassingtheCurrentEvent
SettheCurrentEventtoES_NO_Event
returntheCurrentEvent

voidStartMasterSM(Es_EventCurrentEvent)
SetavolatileESEventtobealocalEvent=CurrentEvent(fordebugging)
RunMasterSMwithourlocalevent

staticES_EventDuringMaster(EsEventEvent)
iftheEventisanEntryEvent
StartStrategySMpassingtheEntryevent
StartPACSMpassingtheEntryevent
StartAttackStrategySMpassingtheEntryevent
StartHallEffectSMpassingtheEntryevent
iftheeventisanES_Exit
RunStrategySMpassingtheExitevent
RunPACSMpassingtheExitevent
RunAttackStrategySMpassingtheExitevent
RunHallEffectSMpassingtheExitevent
else
RunStrategySMpassingtheevent
RunPACSMpassingtheevent
RunAttackStrategySMpassingtheevent
RunHallEffectSMpassingtheevent

PACLogic_SM.c
ES_EventRunPAC_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=Waiting4Command
SetCurrentEvent=RunDuringWaiting4CommandFunction
CurrentEvent.EventType=ES_Timeout&CurrentEvent.EventParam=
CheckCampaignStatus
SetNextStatetoCampaignStatus
SetMaketransitiontotrue
CurrentEvent.EventType=ES_PS_Detected
SetNextStatetoCapture_PS
SetMaketransitiontotrue
CurrentState=CampaignStatus
SetCurrentEvent=RuntheDuringCampaignStatusFunction
CurrentEvent.EventType=ES_Transaction_Complete
SetNextStatetoWaiting4Command
SetMaketransitiontotrue
CurrentEvent.EventType=ES_PS_Detected
DefertheEvent
CurrenState=Capture_PS
SetCurrentEvent=RuntheDuringcapturePSFunction
SetCurrentEvent=ES_PS_Captured
SetNextStatetoWaiting4Command
SetMaketransitiontotrue

IfMakeTransition=True
CurrentEvent=ES_Exit
CalltheRunPAC_SM
SettheCurrentState=NextState
SettheCurrentEvent.EventType=ES_Entry
RunthePAC_SMagainwiththeES_Entryevent

voidStartPAC_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=Waiting4CommandState,ourentrystate
RunthePAC_SMwiththeCurrentEvent


PAC_State_tQueryPacSM(void)
returntheCurrentState

staticES_EventDuringWaiting4Command(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
Startthetimerforthecampaignstatus
Calltherecalldeferredeventsfunction

return(event)

staticES_EventDuringCampaignStatus(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
CreateanES_EventforSendCMd
SettheParametertoCampaignStatus_SPI_Command_BYTE
PostanES_SendCMD
iftheEventisanES_ExitEvent
UpdatetheEnemyQueueusingourQueueDataStructure
else
RunSendingCMD_SM()

return(event)

staticES_EventDuringCapture(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
UpdatetheEnemyQueueusingourQueueDataStructure
else
RunSendingCMD_SM()

return(event)

Capture_PS_SM
ES_EventRunCapturePS_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=Measuring1
SetCurrentEvent=RunDuringMeasuring1Function
CurrentEvent.EventType=EV_PS_Detected
SetNextStatetoRequest1
SetMaketransitiontotrue
CurrentState=Request1
SetCurrentEvent=RunDuringRequest1Function
CurrentEvent.EventType=ES_Transaction_Complete
IfResponseisReady,WeareAcknowledged,andtheLocationiscorrect
SetNextStatetoMeasuring2
SetMaketransitiontotrue
elseifResponseisReady
SetNextStatetoMeasuring1_t
SetMaketransitiontotrue

CurrentState=Measuring2
SetCurrentEvent=RunDuringRequest1Function
CurrentEvent.EventType=EV_PS_Detected
SetNextStatetoRequest2
SetMaketransitiontotrue

CurrentState=Request2
SetCurrentEvent=RunDuringRequest2Function
IfResponseisReady,WeareAcknowledged,andtheLocationiscorrec
PostanES_PS_CapturedEvent
Setmaketransitiontofalseaswearentactuallytransitioningout
elseifResponseisReady
SetNextStatetoMeasuring1
SetMaketransitiontotrue

IfMakeTransition=True
CurrentEvent=ES_Exit
CalltheRunCapturePS_SM
SettheCurrentState=NextState
SettheCurrentEvent.EventType=ES_Entry

RuntheCapturePS_SMagainwiththeES_Entryevent
voidStartCapturePS_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=Request1State,ourentrystate
RuntheCapturePS_SMwiththeCurrentEvent

CapturePS_State_tQueryCapturePS_SM(void)
returntheCurrentState

staticES_EventDuringMeasuring#1(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringRequest#1(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
CreateanES_EventforES_PS_Measuring
PosttheEvent
else
RunRequest_SM()

return(event)

staticES_EventDuringMeasuring#2(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringRequest#2(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
CreateanES_EventforES_PS_Measuring
PosttheEvent
else
RunRequest_SM()

return(event)

Request_SM.c
ES_EventRunRequest_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=Request
SetCurrentEvent=RunDuringRequestFunction
CurrentEvent.EventType=ES_Transaction_Complete
SetNextStatetoQuery
SetMaketransitiontotrue
CurrentState=Query
SetCurrentEvent=RunDuringQueryFunction
CurrentEvent.EventType=ES_Transaction_Complete
IfResponseisNotReadyhelperfunction
SetMaketransitiontotruetoleavethestateandrenterit

voidStartRequest_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=RequestState,ourentrystate
RuntheRequest_SMwiththeCurrentEvent

Request_State_tQueryRequest_SM(void)
returntheCurrentState

staticES_EventDuringRequestState(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
CreateanES_EventforSendCMD
SettheParametertoRequest_SPI_Command_BYTE
PostanES_SendCMD
iftheEventisanES_ExitEvent
else
Run_SendingCMD_SM
return(event)

staticES_EventDuringQueryState(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent

CreateanES_EventforSendCMD
SettheParametertoQuery_SPI_Command_BYTE
PostanES_SendCMD
iftheEventisanES_ExitEvent
else
Run_SendingCMD_SM
return(event)

SendingCMD_SM.c
ModuleLevelVariables
CreateResponseArray[5]uint8_twhichisupdatedineachevents

ES_EventRunSendingCMD_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=Waiting
SetCurrentEvent=RunDuringWaitingFunction
CurrentEvent.EventType=ES_SendCMD
CreateanES_EventforSendByte
SettheParametertofromSendCMDEvent(ie.theEventwepassedin)
PostanES_SendByte
SetNextStatetoSendingByte1_t
SetMaketransitiontotrue
CurrentState=SendingByte1_t
SetCurrentEvent=RunDuringSendingByte1_tFunction
CurrentEvent.EventType=ESTimeout&Param=SSI
CreateanES_EventforSendByte
SettheParameterto0x00
PostanES_SendByte
SetNextStatetoSendingByte1_2
SetMaketransitiontotrue

CurrentState=SendingByte2_t
SetCurrentEvent=RunDuringSendingByte2_tFunction
CurrentEvent.EventType=ESTimeout&Param=SSI
CreateanES_EventforSendByte
SettheParameterto0x00
PostanES_SendByte
SetNextStatetoSendingByte1_3
SetMaketransitiontotrue
CurrentState=SendingByte3_t
SetCurrentEvent=RunDuringSendingByte3_tFunction
CurrentEvent.EventType=ESTimeout&Param=SSI
SetNextStatetoSendingByte1_4
CreateanES_EventforSendByte
SettheParameterto0x00

PostanES_SendByte
SetMaketransitiontotrue

CurrentState=SendingByte4_t
SetCurrentEvent=RunDuringSendingByte3_tFunction
CurrentEvent.EventType=ESTimeout&Param=SSI
SetNextStatetoSendingByte1_5
CreateanES_EventforSendByte
SettheParameterto0x00
PostanES_SendByte
SetMaketransitiontotrue

CurrentState=SendingByte5_t
SetCurrentEvent=RunDuringSendingByte5_tFunction
CurrentEvent.EventType=ESTimeout&Param=SSI
SetNextStatetoWaiting
Post(ES_Trasaction_Complete)event
SetMaketransitiontotrue

voidStartSendCMD_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=WaitingState,ourentrystate
RuntheSendCMD_SMwiththeCurrentEvent

SendCMD_State_tQuerySendCMD_SM(void)
returntheCurrentState

staticES_EventDuringWaitingState_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringSendingByte1State_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
ReadtheDataRegisterandStoretheuint8_tinthe0throwofour
ResposneArray
else
RunSendByteSM()
return(event)

staticES_EventDuringSendingByte2State_t(ES_EventEvent)

SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
ReadtheDataRegisterandStoretheuint8_tinthe1throwofour
ResposneArray
else
RunSendByteSM()
return(event)

staticES_EventDuringSendingByte3State_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
ReadtheDataRegisterandStoretheuint8_tinthe2throwofour
ResposneArray
else
RunSendByteSM()
return(event)

staticES_EventDuringSendingByte4State_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
ReadtheDataRegisterandStoretheuint8_tinthe3throwofour
ResposneArray
else
RunSendByteSM()
return(event)

staticES_EventDuringSendingByte5State_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
ReadtheDataRegisterandStoretheuint8_tinthe4throwofour
ResposneArray
else
RunSendByteSM()
return(event)

uint8_tArraygetResponse()
returnResponseArray

*Note:SendingByte_SMwasremovedtomakeourPAC
interfacecompliantwiththebehaviordetailedinthespec.
SendingByte_SM.c
ES_EventRunSendingByte_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=WaitingtoSend
SetCurrentEvent=RunDuringWaitingtoSendFunction
CurrentEvent.EventType=ES_SendByte
WriteToOurDataRegsiterwiththeES_SendByteParameter
EnableXmitInterrupt?<doweeverdisablethis?
SetNextStatetoWaitingforEOT
SetmakeTransitiontotrue
CurrentState=WaitingforEOT
SetCurrentEvent=RunDuringWaitingtoSendFunction
CurrentEvent.EventType=ES_EOT
SetNextStatetoWaitingforTimeout
SetmakeTransitiontotrue
CurrentState=WaitingforTimeout
SetCurrentEvent=RunDuringWaitingtoSendFunction
CurrentEvent.EventType=ES_TimeoutandParameter=SSI
SetNextStatetoWaitingtoSend
SetmakeTransitiontotrue

voidStartSendByte_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=WaitingtoSendState,ourentrystate
RuntheSendByte_SMwiththeCurrentEvent

SendByte_State_tQuery_SendByte_SM(void)
returntheCurrentState

staticES_EventDuringWaiting2SendState_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent

iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringWaiting4EOTState_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringWaiting4TimeoutState_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
Start2msTimer
iftheEventisanES_ExitEvent
else
return(event)

AttackStrategy_SM.c
ES_EventRunAttackStrategy_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=Wait4AttackPhase_t
SetCurrentEvent=RunDuringWaiting4AttackPhaseFunction
CurrentEvent.EventType=ES_Timeout,StartAttackingTimer
SetNextStatetoAttack_t
SetmakeTransitiontotrue
CurrentState=Attack_t
SetCurrentEvent=RunDuringAttack_tFunction
CurrentEvent.EventType=ES_TimeoutwithParameterfor
AttackComplete/AttackDuration
SetNextStatetoWait4NextAttack_t
SetmakeTransitiontotrue
CurrentState=Wait4NextAttack_t
SetCurrentEvent=RunDuringWait4NextAttack_tFunction
CurrentEvent.EventType=ES_TimeoutandParameter=NextAttackTimer
SetNextStatetoAttack_t
SetmakeTransitiontotrue

voidStartAttackStrategy_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=Wait4AttackPhase_t,ourentrystate
RuntheAttackStrategy_SMwiththeCurrentEvent

AttackStrategy_State_tQueryAttackStrategy_SM(void)
returntheCurrentState

staticES_EventDuringWait4AttackPhase_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
StartStartAttackingTimerTimer
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringAttack_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
GettheOldPowerTrainDestinationandsavetoastaticvariable
Setthenewdestinationtonull
iftheEventisanES_ExitEvent
Setthedestinationtooursavedpowertraindestination
else

RuntheAttack_SM
return(event)

staticES_EventDuringNextAttack_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
StarttheNextAttackTimer
iftheEventisanES_ExitEvent
else

return(event)

Attack_SM.c
ES_EventRunAttackStrategy_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=Align&StartCannon_t
SetCurrentEvent=RunDuringAlign&StartCannont_tFunction
CurrentEvent.EventType=CannonFullSpeed
SetNextStatetoFullSpeed_t
SetmakeTransitiontotrue
CurrentEvent.EventType=ES_CannonAligned
SetNextStatetoAligned
SetmakeTransitiontotrue
CurrentState=Aligned_t
SetCurrentEvent=RunDuringAligned_tFunction
CurrentEvent.EventType=FullSpeed_t
SetNextStatetoFiring_t
SetmakeTransitiontotrue
CurrentState=FullSpeed_t
SetCurrentEvent=RunDuringCannonAngledFunction
CurrentEvent.EventType=ES_CannonAligned
SetNextStatetoFiring_t
SetmakeTransitiontotrue
CurrentState=Firing_t
SetCurrentEvent=RunDuringFiring_tFunction
CurrentEvent.EventType=ES_CannonAligned
SetNextStatetoFiring_t
SetmakeTransitiontotrue

voidStartAttack_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=Wait4AttackPhase_t,ourentrystate
RuntheAttackStrategy_SMwiththeCurrentEvent

Attack_State_tQueryAttack_SM(void)
returntheCurrentState

staticES_EventDuringAlign&StartCannonState_t(ES_EventEvent)

SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
StartTimerforCannonAngleReached
StartTimerforCheckingAlignmentofCannon
GetourdesiredCannonangle
SettheSetpointofthecannonanglemotortobeequaltoourdesiredbeacon
RotatethePowerTrain/Robottodesiredalignment
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringAlignedState_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringCannonAngled_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuringFiring_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
StartNextShotTimer
else
RunFireSM()
return(event)

*Note:thefunctionalityofthisstatemachinewasincorporatedinto
Attack_SM.c
Fire_SM.c
ES_EventRunFire_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=OpeningHopper
SetCurrentEvent=RunDuringOpeningHopperFunction
CurrentEvent.EventType=ES_Timeout,BallLoaded
SetNextStatetoDriveHammer
SetmakeTransitiontotrue
CurrentState=DriveHammer
SetCurrentEvent=RunDuringDriveHammerFunction

voidStartFiring_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=OpeningHopper,ourentrystate
RuntheFire_SMwiththeCurrentEvent

Fire_State_tQueryFire_SM(void)
returntheCurrentState

staticES_EventDuringOpeningHopper_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
PostES_Open_Hoppersothatthehopperservicerotatestheservo
StarttheBallLoadedTimer
iftheEventisanES_ExitEvent
else
return(event)

staticES_EventDuring
DriveHammer
_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
PostES_Open_Hoppersothatthehopperservicerotatestheservo

StarttheBallLoadedTimer
iftheEventisanES_ExitEven
PostES_Close_Hoppersothatthehopperservicerotatestheservo
PostanES_StopCannontorevdownthecannon
else
return(event)

HallEffect_SM.c
PoundDefines
#definePERIOD_MEASURING_ERROR_TOLERANCE10
#defineNUMBER_PULSES_TO_STOP
#defineNUMBER_HALL_EFFECT_SENSORS
#defineNUMBER_FREQUENCIES16

PoundDefineIndexinArrayCorrespondingtoHallEffectPosition
#defineLEFT_OUTER_INDEX0
#defineLEFT_INNER_INDEX1
#defineRIGHT_INNER_INDEX2
#defineRIGHT_OUTER_INDEX3

ModuleLevelVariables
CreateModuleLevelVariableforPossiblePeriods(inmicroseconds)
staticuint8_tPS_Possible_Periods={1000,947,893,840,787,733,680,627,573,520,467,
413,360,307,253,200}

CreateModuleLevelvariableforEachHallSensorsLastCapturedPeriods(inus)
staticuint8_tHallSensor_LastPeriods[NUMBER_PULSES_TO_STOP]
[NUMBER_HALL_EFFECT_SENSORS]

ES_EventRunHallEffect_SM(ES_EventCurrentEvent)
setMakeTransitiontoFalse
SettheNextState=CurrentState
SettheEntryEventKindto0,iethedefault
Setourreturneventtothecurrentevent

Switch
CurrentState=Measure_t
SetCurrentEvent=RunDuringMeasure_tFunction
CurrentEvent.EventType=EV_PS_Detected
SetNextStatetoRequesting_t
SetmakeTransitiontotrue
CurrentState=Requesting_t
SetCurrentEvent=RunDuringRequesting_tFunction
CurrentEvent.EventType=EV_PS_Measuring
SetNextStatetoMeasure_t
SetmakeTransitiontotrue


voidStartHallEffectSM_SM(ES_EventCurrentEvent)
CreateavolatileES_EventLocalEventequaltotheCurrentEvent
SettheCurrentState=Measure_t,ourentrystate

CallOurInitializeHallEffectInterrupts()Function

RuntheHallEffect_SMwiththeCurrentEvent

HallEffect_State_tQueryHallEffect_SM(void)
returntheCurrentState

staticES_EventDuringMeasure_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
EnableAllHallSensorInterrupts
iftheEventisanES_ExitEvent
DisableAllHallSensorInterrupts
else
return(event)

staticES_EventDuringRequesting_t(ES_EventEvent)
SetvolatileNewEventfordebugging
iftheEventisanES_EntryEvent
iftheEventisanES_ExitEvent
else
return(event)

InitializeHallEffectInterrupts()
initializeInterrupt(HallEffectLeft_OuterTimer)
RepeatforAllHallEffectSensors

DisableAllHallSensorInterrupts()
LocallyDisableHallSensorInterruptLeft_Outer
LocallyDisableHallSensorInterruptLeft_Inner
LocallyDisableHallSensorInterruptRight_Inner
LocallyDisableHallSensorInterruptRight_Outer

EnableAllHallSensorInterrupts()
LocallyEnableHallSensorInterruptLeft_Outer
LocallyEnableHallSensorInterruptLeft_Inner
LocallyEnableHallSensorInterruptRight_Inner
LocallyEnableHallSensorInterruptRight_Outer


InterruptResponseforEachHallSensor
HallSensor_Left_Outer_InterruptResponse()
CleartheSourceoftheInterrupt
DefineThisCapture
Grabthecapturedvalue
Calculatetheperiodinmicroseconds
StorethelastCapturevalue

callthe
updatePeriodArrays
functionwithLEFT_OUTER_INDEX
callthedetectPollingStationfunctionwithSensor_Index

updatePeriodArraysfunction(uint8_tsensor_index,uint32CurrentPeriod)
IftheNUMBER_PULSES_TO_STOP>2
forloopcountingdownfromNUMBER_PULSES_TO_STOP1to(>)0
HallSensor_LastPeriod[i][sensor_index]=
HallSensor_LastPeriod[i1][sensor_index]

SettheHallSensor_LastPeriod[0][sensor_index]=CurrentPeriod

detectPollingStationfunction(uint8_tsensor_index)
setbooleansignalingvariablePS_detected=false

firstcheckifthelastperiodiswithinthetolerance
periodMatch=PS_Period_Comparison(HallSensor_LastPeriod[0][sensor_index])

Checkiftheperiodsbeforethatwerealsowithinthesametolerance
IftheNUMBER_PULSES_TO_STOP>1
initializenumGoodPulses=1
forloopcountingfrom1to(>=)NUMBER_PULSES_TO_STOP1

if(boolcontained=toleranceCheck(
HallSensor_LastPeriod[i][sensor_index],
periodMatch,
PERIOD_MEASURING_ERROR_TOLERANCE))
incrementnumGoodPulses

ifnumGoodPulsesequalsNUMBER_PULSES_TO_STOP
PostES_PS_detectedevent

uint32_tperiodMatchPS_Period_Comparison(uint32_tactualPeriod)
setreturnPeriodto0as0willbereturnedifnomatchesarefound
for0:NUMBER_PS_FREQUENCIES1
boolcontained=toleranceCheck(actualPeriod,PS_Possible_Periods[i],

PERIOD_MEASURING_ERROR_TOLERANCE)
if(contained)
returnPeriod=PS_Possible_Periods[i]
returnthereturnPeriod

PhotoTransitor_Service.c
PoundDefines
#definePERIOD_MEASURING_ERROR_TOLERANCE10
#defineNUMBER_CONSECUTIVE_PULSES_2STORE3
#defineNUMBER_PULSES_TO_BE_ALIGNED2
#defineNUMBER_PHOTOTRANSISTORS2
#defineNUMBER_BEACON_FREQUENCIES4

#defineBEACON_F_NW1450
#defineBEACON_F_NE1700
#defineBEACON_F_SE1250
#defineBEACON_F_SW1950

#defineBEACON_INDEX_NW0
#defineBEACON_INDEX_NE1
#defineBEACON_INDEX_SE2
#defineBEACON_INDEX_SW3

#defineDIRECTION1(use1ifCWand1ifCCW)

PoundDefineIndexinArrayCorrespondingtoPhototransistor
#defineLEFT_PHOTOTRANSISTOR_INDEX0
#defineRIGHT_PHOTOTRANSISTOR_INDEX1

ModuleLevelVariables
structBeacon{
uint16_tPeriod,
uint16_tlastEncoderAngle,
uint16_tlastUpdateTime
}

staticstructbeacon_structs[4]

CreateModuleLevelforEachPhotoTransitorsPeriods
staticuint8_tPhotoTransistor_LastPeriods[NUMBER_CONSECUTIVE_PULSES_2STORE]
[NUMBER_PHOTOTRANSISTORS]

InitializeBeaconValues
CreateourStructures
ie.structbeaconbeacon_NW

CalculateourBeaconPeriodsinMicroseconds
ie.beacon_NW.period=1000000/BEACON_F_NW

CreateanemptystructcallednoBeacon
setthenoBeaconsperiodequaltozero

Setthevaluesofourbeaconsarray
beacon_structs[0]=beacon_NWmakingsurethatthisisthesameorderasthe
enum

InitPhotoTransistorInterrupts
InitPhotoTransistor(Left)
InitPhotoTransisor(Right)

PhotoTransistorLeft_InterruptResponse()
CleartheSourceoftheInterrupt
DefineThisCapture
Grabthecapturedvalue
Calculatetheperiodinmicroseconds
StorethelastCapturevalue

callupdateLastPeriodfunctionandpass(LeftIndex,Period)
checkforabeacon(LeftIndex)

voidupdateLastPeriod(uint8_tIndex,uint32_tperiod)
forloopfromi=NUMBER_CONSECUTIVE_PULSES_2STORE1to(>)0
PhotoTransistor_LastPeriods[i][index]=PhotoTransistor_LastPeriods[i1][index]

Updatethemostrecentperiodby:
PhotoTransistor_LastPeriods[0][index]=period

voidcheckforabeacon(uint8_tindex)
setourtargetbeaconsstructureequaltotheresultofwhichBeacon(index)

ifthetargetbeaconisnotequaltothenullstruct(seeifthefrequency=0)
createcountervariablenumCorrect
iteratethroughallofourPhotoTransistor_LastPeriodsarrayandseehowmany
arewithinourtolerancebounds

ifnumCorrect=NUMBER_PULSES_TO_BE_ALIGNED
getthecurrentangleoftherotatingMotorandstoreinthestruct
getthecurrenttimeandstoreitinourstruct

postES_Beacon_Aligned

uint16_twhichBeacon(uint8_tindex)andreturnastructBeacon
getthecurrentPeriodLocally,ie.PhotoTransistor_LastPeriods[0][index]

CheckiftheperiodiswithinthetoleranceboundsforanyofourbeaconPeriodseg.
if(toleranceCheck(currentPeriod,beacon_NW.period,PERIOD_TOLERANCE)

ifitis,returnthatstructureeg.
returnbeacon_NW

iftheperioddoesntmatchanything,returnthenoBeaconstructure

uint16_tgetBeaconAngle(beacon_namesbeacon)
returnbeacon_array[
beacon].a
ngle

uint16_tgetBeaconUpdate(uint8_tbeacon)
returnbeacon_array[
beacon].t
ime

GameInfo.c
uint8_tArrayofsize9Current_Status_ofPollingStations
booleanAdStatusforRed
booleanAdStatusforBlue
booleanGameStatus

queueforEnemyCaptures
priorityqueuefordestinations


EnemyCaptureQueue.c
Queueimplementationusingastaticarrayofsize9

boolIsEmpty()
Returntrueiffhead==tail

VoidEnqueue(uint8_tstation)
Iftailisattheendofthearray,settail=0
Insertstationintothearrayattail
Incrementtail

uint8_tDequeue()
Ifhead==tail(thequeueisempty)returnEMPTYconstant
Else,setreturnstationbasedonthestationlocatedatindexheadinthearray
Incrementhead
Ifheadisattheendofthearray,sethead=0

uint8_tPositionInQueue(uint8_tstation)
Seti=head
Setposition=0
While(i!=tail)
Ifthearrayatindexiisequaltostation,returnposition
Incrementi
Incrementposition
Ifiistheendofthearray,seti=0
ReturnNOT_IN_QUEUE

Helpers.c:

(abunchofstaticstructs)

voidInitPWM(
uint8_tmodule,
uint8_tblock,
uint8_tgenerator,
uint32_tperiod,
uint32_tclock_div_constant,
uint8_tgpio_rcgc,
uint8_tgpio_base,
uint8_tgpio_pin,
uint8_tgpio_afsel_clear_mask,

uint8_tgpio_afsel_newval)
EnableclocktoPWM
enableclocktoport
SetPWMclockbasedonsystemclockanddivider
waitforpwmclock
disablepwm
programgeneratorA
programgeneratorB
Setperiod
enablethePWMoutputs
EnablealternatefunctionalityofGPIOpins
SelectPWMasalternatefunction

EnablepinsasdigitalI/O

Enablepinsasoutput
Setthedirectionpinslow

Selectupdowncounting,setlocalsynchronization,andenablegenerator
posttheinitialtransitionevent

booleangetResponseReadyStatus(responseArray)
returns(Array[1]==0xAA)

booleangetIsAcknowledged(responseArray)

booleanisOurs(resposneArray)

uint8_tgetLocation(responseArray)

booleantoleranceCheck(uint32_tvalue,uint32_ttarget,uint32_ttol)
setreturnVal=false
if((value>targettol)&&(value<target+tol))
setreturnValtrue
returnthereturnVal

//InterruptDefinitions
#defineSYSCTL_NUM(x)SYSCTL_RCGCWTIMER_R##x##
#defineWTIMER_NUM(x)WTIMER##x##_BASE
#defineTIMER_CTL(x)TIMER_CTL_T##x##EN
#defineILR(x)TIER_O_T##x##ILR
#defineCAPTURE_MODE(x)
#define
#define

#defineSOURCE(x)TIMER_ICR_T##x##TOCINT

#defineENABLE(x)TIMER_IMR_C##x##EIM

InitInputCapture(uint8_ttimer_num,uint8_ttimer_letter,uint8_tport_def,uint8_tport_base,
uint8_tpin,uint8_tnvic_priority,uint8_tnvic_enable,uint8_tpriority,uint8_tnvic_enable_bit)
Startbyenablingtheclocktothetimer,
SYSCTL_NUM(
timer_num)

EnabletheclocktoPort
port_def
SinceweaddedthisPortCclockinit,wecanimmediatelystartintoconfiguringthe
timer,noneedforfurtherdelaymakesurethattimer(
timer_letter)
isdisabledbefore
configuring
Setitupin32bitwide(individual,notconcatenated)mode
Theconstantnamederivesfromthe16/32bittimer,butthisisa32/64bittimersowe
aresettingthe32bitmode
Wewanttousethefull32bitcount,soinitializetheIntervalLoadRegisterto0xffff.ffff
(itsdefaultvalue:)
SetuptimerAincapturemode(TAMR=3,TAAMS=0),Foredgetime(TACMR=1)
andupcounting(TACDIR=1)
Tosettheeventtorisingedge,weneedtomodifytheTAEVENTbitsinGPTMCTL.
Risingedge=00,sowecleartheTAEVENTbits
NowSetuptheporttodothecapture(clockwasenabledearlier)startbysettingthe
alternatefunctionforPortCbit4(WT0CCP0)
Then,mapbit4'salternatefunctiontoWT0CCP07isthemuxvaluetoselect
WT0CCP0,16toshiftitovertotherightnibbleforbit4(4bits/nibble*4bits)
EnablepinonfordigitalI/O
Makepinintoaninput
Backtothetimertoenablealocalcaptureinterrupt
SetthePrioritysothatcommandgeneratorisprioritized
EnabletheTimerAinWideTimer0interruptintheNVIC
Itisinterruptnumber94soappearsinEN2atbit30
Makesureinterruptsareenabledglobally
Nowkickthetimeroffbyenablingitandenablingthetimertostallwhilestoppedbythe
debugger

ClearInputCapture(chartimernum,chartimer_letter)
HWREG(base+TIMER_O_ICR)=SOURCE(timer_letter)

DisableInterrupt(chartimernum,chartimer_letter)
HWREG(
WTIMER_NUM(
timer_num
)
+TIMER_O_IMR)&=~
ENABLE(
timer_letter
)

EnableInterrupt(chartimer_num,chartimer_letter)
HWREG(
WTIMER_NUM(
timer_num
)
+TIMER_O_IMR)|=
ENABLE(
timer_letter
)

voidInitPeriodic(

uint8_ttimer_num,
uint8_ttimer_letter,
uint8_tport_def,
uint8_tport_base,
uint8_tpin,
uint32_tnvic_priority,
uint32_tnvic_enable,
uint8_tpriority,
uint32_tpriority_clear_mask,
uint8_tnvic_enable_bit,
uint8_ttime_length,
uint8_tgpio_afsel_clear_mask,
uint8_tgpio_afsel_newval)

startbyenablingtheclocktothetimer
startbyenablingtheclocktothetimer
Setitupin32bitwide(individual,notconcatenated)mode
Setuptimerinperiodicmodesothatitrepeatsthetimeouts
Settimeouttotimelength
Enablealocaltimeoutinterrupt
SetPrioritytohigherthanzero(1)sothatitdoesnotconflictwithourotherinterrupt.

EnabletheTimerinWideTimerinterruptintheNVIC
Makesureinterruptsareenabledglobally
Nowkickthetimeroffbyenablingitandenablingthetimerto
Stallwhilestoppedbythedebugger

StrategyFunctions:

Updateprioritieswhen:
theycaptureastation
collisiondetected
wecaptureastation

ChooseDestination:
Dequeuepriorityqueueandreturnthestation

ChooseDestination():
uint8_ttarget
Foreachstation:
Ifweownthestation
Setprioritytomaxval
Elseifthestationisobstructed
Setprioritytomaxval1
Elsepriorityis:
Distancemultiplier*currentdistancetostation
+capturemultiplier*positionincapturequeue
+retrymultiplier*numberofretries
+intrinsicprioritizationofastation
SettargettobethetargetwithLOWESTpriorityvalue

RMS(floatx1,floaty1,floatx2,floaty2)
returnsqrt((x2x1)^2+(y2y1)^2)

left(target)
while(ownership[target]==myTeam)
target

Whataboutdestinationselectionwhenwecollidewiththeirrobot?
Basically,whenwedetectacollisionnearatarget,rulethattargetoutUNTILweseethat
thatlocation(oranotherlocation)getscaptured.Thenreattempt.

Definitions.h
[Modulewhichcontainsgeneraldefinedconstantsfortheprogram]

ControlLaws
PIDControllers:

CalculateRPMerrorasRPMTargetCurrentRPM
IncrementIntegralTermbyiGain*RPMError
ClampIntegralTermto[0,100](antiwindup)
SetDutyaspGain*(RPMError+IntegralTerm+(dGain*(RPMErrorLastError)))
StoreRPMErrorasLastError
ReturnDuty