State machine states

• INIT

  • fromInitToQuiet

    The initial transition must stop any driving activity.

    • Destination:QUIET
    • 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();
      No records to display

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• QUIET

  • fromQuietToBw

    The action must start in Bw direction

    • Destination:BW
    • Condition: negativeActionRequested
      Code
      actAction<0
    • Actions:

      • setActuationModule

        ActDrive

        The actuation output must equal the module of the actuation request.

        Code

        if (actAction>=0){
        rectifiedActAction=(t_pwm)actAction;
        } else {
        rectifiedActAction=(t_pwm)(-actAction);
        }
        

      • setActuationBw

        ActDrive

        Sets the direction of the actuators to move in Bw position.

        Code

        actDirection=CFG_ACT_DIRECTION_BW;

      • execActDriving

        ActDrive

        This action is used to execute the submachine ActDriving.

        Code

        ActDriving();
      No records to display

  • fromQuietToFw

    The movement has to start in Fw direction.

    • Destination:FW
    • Condition: positiveActionRequested
      Code
      actAction>0
    • Actions:

      • setActuationModule

        ActDrive

        The actuation output must equal the module of the actuation request.

        Code

        if (actAction>=0){
        rectifiedActAction=(t_pwm)actAction;
        } else {
        rectifiedActAction=(t_pwm)(-actAction);
        }
        

      • setActuationFw

        ActDrive

        Sets the direction of the actuators to move in Fw position.

        Code

        actDirection=CFG_ACT_DIRECTION_FW;

      • execActDriving

        ActDrive

        This action is used to execute the submachine ActDriving.

        Code

        ActDriving();
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  No records to display

• FW

  • fwLoop

    The actuator must keep moving in FW.

    • Destination:FW
    • Condition: positiveActionRequested
      Code
      actAction>0
    • Actions:

      • setActuationModule

        ActDrive

        The actuation output must equal the module of the actuation request.

        Code

        if (actAction>=0){
        rectifiedActAction=(t_pwm)actAction;
        } else {
        rectifiedActAction=(t_pwm)(-actAction);
        }
        

      • setActuationFw

        ActDrive

        Sets the direction of the actuators to move in Fw position.

        Code

        actDirection=CFG_ACT_DIRECTION_FW;

      • execActDriving

        ActDrive

        This action is used to execute the submachine ActDriving.

        Code

        ActDriving();
      No records to display

  • fromFwToQuiet

    The actuator must stop moving.

    • Destination:QUIET
    • Condition: noActionRequested
      Code
      actAction==0
    • 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();
      No records to display

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• BW

  • bwLoop

    The actuation must stay in negative direction.

    • Destination:BW
    • Condition: negativeActionRequested
      Code
      actAction<0
    • Actions:

      • setActuationModule

        ActDrive

        The actuation output must equal the module of the actuation request.

        Code

        if (actAction>=0){
        rectifiedActAction=(t_pwm)actAction;
        } else {
        rectifiedActAction=(t_pwm)(-actAction);
        }
        

      • setActuationBw

        ActDrive

        Sets the direction of the actuators to move in Bw position.

        Code

        actDirection=CFG_ACT_DIRECTION_BW;

      • execActDriving

        ActDrive

        This action is used to execute the submachine ActDriving.

        Code

        ActDriving();
      No records to display

  • fromBwToFw

    The action direction changes from BW to FW

    • Destination:FW
    • Condition: positiveActionRequested
      Code
      actAction>0
    • Actions:

      • setActuationModule

        ActDrive

        The actuation output must equal the module of the actuation request.

        Code

        if (actAction>=0){
        rectifiedActAction=(t_pwm)actAction;
        } else {
        rectifiedActAction=(t_pwm)(-actAction);
        }
        

      • setActuationFw

        ActDrive

        Sets the direction of the actuators to move in Fw position.

        Code

        actDirection=CFG_ACT_DIRECTION_FW;

      • execActDriving

        ActDrive

        This action is used to execute the submachine ActDriving.

        Code

        ActDriving();
      No records to display

  • fromBwToQuiet

    The driving is negative and changes to zero.

    • Destination:QUIET
    • Condition: noActionRequested
      Code
      actAction==0
    • 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();
      No records to display

  No records to display