W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\SearchingForTrailSM.

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/****************************************************************************
Module
SearchingForTrailSM.c
Revision
1.0

Description
Author
Anne Alter, Derrick Contreras
Date
2/14/16

****************************************************************************/
/*----------------------------- Include Files -----------------------------*/
//headers for framework
#include "ES_Configure.h"
#include "ES_Framework.h"
#include "TemplateService.h"
#include "termio.h"
//headers to access the pwm and nvic libraries
#include "inc/hw_timer.h"
#include "inc/hw_nvic.h"
#include "inc/hw_pwm.h"
//headers to access the GPIO subsystem
#include "inc/hw_memmap.h"
#include "inc/hw_types.h"
#include "inc/hw_gpio.h"
#include "inc/hw_sysctl.h"
#include "inc/hw_ssi.h"

//headers to access the TivaWare Library

#include "driverlib/sysctl.h"
#include "driverlib/pin_map.h"
#include "driverlib/gpio.h"
#include "driverlib/timer.h"
#include "driverlib/interrupt.h"

//headers for other modules in the program

#include "SearchingForTrailSM.h"
#include "MasterSM.h"
#include "DriveService.h"
#include "BumperService.h"
#include "PWMService.h" //take this out
#include "PoundDefines.h"

/*----------------------------- Module Defines ----------------------------*/

#define ENTRY_STATE SearchDriving
/*---------------------------- Module Functions ---------------------------*/
static ES_Event DuringSearchDriving(ES_Event Event);
static ES_Event DuringTurnAround(ES_Event Event);
/*---------------------------- Module Variables ---------------------------*/
static CurrentSearchingForTrailState_t CurrentSearchingForTrailState;
/*------------------------------ Module Code ------------------------------*/
/****************************************************************************
Function
RunSearchingForTrailSM
Parameters
ES_Event : the event to process

Returns
ES_Event, ES_NO_EVENT if no error ES_ERROR otherwise

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\SearchingForTrailSM.c
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Description
Author
Anne Alter, Derrick Contreras
****************************************************************************/
ES_Event RunSearchingForTrailSM(ES_Event CurrentEvent)
{
bool MakeTransition = false;
CurrentSearchingForTrailState_t NextState = CurrentSearchingForTrailState;
ES_Event EntryEventKind = {ES_ENTRY, 0};
ES_Event ReturnEvent = CurrentEvent; //not consuming event
//Switch CurrentSearchingForTrailState
switch(CurrentSearchingForTrailState)
{
//Case SearchDriving:
case SearchDriving:
//Set CurrentEvent to DuringSearchDriving
CurrentEvent = DuringSearchDriving(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
//Case: BUMP
case BUMP:
printf("BUMP from SearchingForTrail\r\n");
//NextState is TurnAround
NextState = TurnAround;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
break;
}
}
break;

case TurnAround:
//Set CurrentEvent to DuringTurnAround
CurrentEvent = DuringTurnAround(CurrentEvent);
//If CurrentEvent.EventType is ES_NO_EVENT
if(CurrentEvent.EventType != ES_NO_EVENT)
{
//Switch CurrentEvent.EventType
switch(CurrentEvent.EventType)
{
case ES_TIMEOUT:
if(CurrentEvent.EventParam == REVERSE_TIMER)
{
printf("turn 180 \r\n");
Turn180();
//NextState is TurnAround
NextState = TurnAround;
//MakeTransition is True
MakeTransition = false;
//EntryEventKind.EventType is not a history entry
EntryEventKind.EventType = ES_ENTRY;
}
else if (CurrentEvent.EventParam == ROTATION_TIMER)
{
printf("stop \r\n");
Stop();
//NextState is SearchDriving
NextState = SearchDriving;
//MakeTransition is True
MakeTransition = true;
//EntryEventKind.EventType is not a history entry

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\SearchingForTrailSM.c
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}
}
break;

EntryEventKind.EventType = ES_ENTRY;

}
//If MakeTransition is true
if(MakeTransition == true)
{
//Execute exit function for current state
CurrentEvent.EventType = ES_EXIT;
//Call SearchingForTrailSM function
RunSearchingForTrailSM(CurrentEvent);
//CurrentSearchingForTrailState equals NextState
CurrentSearchingForTrailState = NextState;
//Execute entry function for current state
RunSearchingForTrailSM(EntryEventKind);
}
//return ReturnEvent
return(ReturnEvent);

}
/****************************************************************************
Function
StartSearchingForTrailSM
Parameters
None
Returns
None

Description
Does any required initialization for SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
void StartSearchingForTrailSM(ES_Event CurrentEvent)
{
//If ES_ENTRY_HISTORY does not equal CurrentEvent.EventType
if(ES_ENTRY_HISTORY != CurrentEvent.EventType)
{
//call the entry state for the state machine
CurrentSearchingForTrailState = ENTRY_STATE;
}
//call the entry function for the entry state
RunSearchingForTrailSM(CurrentEvent);

}
/****************************************************************************
Function
QuerySearchingForTrailSM
Parameters
None

Returns
The current state of the state machine

Description
Returns the current state of the state machine

Author
Anne Alter, Derrick Contreras
****************************************************************************/
CurrentSearchingForTrailState_t QuerySearchingForTrail(void)
{
return(CurrentSearchingForTrailState);
}
/*------------------------------ Private Functions ------------------------------*/

W:\_ME218bTeams\DoYouEvenStateMachine_Team17\ME218B\Final Project\CODE\Source\SearchingForTrailSM.c
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/****************************************************************************
Function
DuringSearchDriving
Parameters
ES_Event
Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringSearchDriving(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
//Motors on
SetDirection(LEFT_WHEEL, FORWARD);
SetDirection(RIGHT_WHEEL, FORWARD);
SetDuty(LEFT_WHEEL, 39);
SetDuty(RIGHT_WHEEL, 41);
}
else if(Event.EventType == ES_EXIT)
{
//Stop motors
Stop();
}
else
{
}

//Return ReturnEvent
return ReturnEvent;

/****************************************************************************
Function
DuringTurnAround
Parameters
ES_Event
Returns
ES_Event

Description
Processes entry, exit, and lower level events for the SM

Author
Anne Alter, Derrick Contreras
****************************************************************************/
static ES_Event DuringTurnAround(ES_Event Event)
{
//Define ReturnEvent
ES_Event ReturnEvent = Event;
//If ES_ENTRY event
if((Event.EventType == ES_ENTRY) || (Event.EventType == ES_ENTRY_HISTORY))
{
Reverse();
}
else if(Event.EventType == ES_EXIT)
{
}

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else
{
}

//Return ReturnEvent
return ReturnEvent;