State machine states

• INIT

  • fromInitToDisable

    Initially, the state for the Motor Activation FSM is Disabled

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

      • setActuationQuiet

        ActDrive

        Sets the direction of the actuators to not move.

        Code

        rectifiedActAction=(t_pwm)0;
        actDirection=CFG_ACT_DIRECTION_QUIET;

      • execActDriving

        ActDrive

        This action is used to execute the submachine ActDriving.

        Code

        ActDriving();
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• DISABLED

  • toEnable

    The actuation must be enabled.

    • Destination:ENABLED
    • Condition: enabled
      Code
      actEnable==TRUE
    • Actions:

      • execActRectifier

        ActDrive

        Executes the rectifier FSM

        Code

        ActRectifier();
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• ENABLED

  • loop

    Loop to execute the enabled state machine for actuator driving.

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

      • execActRectifier

        ActDrive

        Executes the rectifier FSM

        Code

        ActRectifier();
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  • toDisable

    The motor actuation must be disabled

    • Destination:DISABLED
    • Condition: disabled
      Code
      actEnable==FALSE
    • Actions:

      • setActuationQuiet

        ActDrive

        Sets the direction of the actuators to not move.

        Code

        rectifiedActAction=(t_pwm)0;
        actDirection=CFG_ACT_DIRECTION_QUIET;

      • execActDriving

        ActDrive

        This action is used to execute the submachine ActDriving.

        Code

        ActDriving();
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