State machine transitions

• stabLoop

  Stabilization loop

  • Destination:STABILIZE
  • Condition: (Not Available)
  • Actions:

    • stopActuation

      ActDrive

      Stops the actuation by setting a duty of 0 in the PWM channel.

      Code

      synthesize_pwmActAction((t_pwm)0);

    • incrementActDriverTimer

      ActDrive

      Increments the actuator driver timer

      Code

      actDrvTimer++;
    No records to display

• fromStabToWork

  The new direction requested is not QUIET, so the actuation must begin working.

  • Destination:WORK
  • Condition: stabTimeExpiredToMove
    Code
    (actDirection!=CFG_ACT_DIRECTION_QUIET) && (actDrvTimer>=CFG_ACT_DRIVER_STAB_TIME)
  • Actions:

    • applyActuation

      ActDrive

      Applies the rectifiedActAction to the PWM channel.

      Code

      synthesize_pwmActAction(rectifiedActAction);

    • resetActDriverTimer

      ActDrive

      Resets the timer of the Actuator Driver.

      Code

      actDrvTimer=0L;
    No records to display

• dirChangeDuringStab

  A new direction arrived during stabilization, the new direction has to be applied and the stab time has to be resetted.

  • Destination:STABILIZE
  • Condition: directionRequestChanged
    Code
    appliedActDirection!=actDirection
  • Actions:

    • stopActuation

      ActDrive

      Stops the actuation by setting a duty of 0 in the PWM channel.

      Code

      synthesize_pwmActAction((t_pwm)0);

    • applyDirection

      ActDrive

      Sets the actuation direction to equal the ActDirection.

      Code

      appliedActDirection=actDirection;

    • resetActDriverTimer

      ActDrive

      Resets the timer of the Actuator Driver.

      Code

      actDrvTimer=0L;
    No records to display