GameSM

GameSM State Machine

GameSM Pseudocode

START OF GameSM

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GAME RUNNING MODULE STATE MACHINE PSEUDO-CODE

InitializeGameSM

Takes a priority number, returns True

Initialize the MyPriority variable with the passed in parameter

Initialize GoTimer

Initialize ServoTimer

Set CurrentState to be InitGameSM

post Event ES_INIT to InitGameSM (this service)

End

RunGameSM (implements the state machine for the Marathon Beekeeping Game)

The EventType field of ThisEvent will be of one: ES_INIT, ES_STOMPRISE, ES_BATONFALL, ES_STING, ES_FSRPINCH, ES_PLAYERLOST, ES_PLAYERWIN,

ES_HONEYWIN, ES_RESET

List of States: InitGamePState, WaitingForGo, Racing, PullingStinger, PlayerCelebrate, PlayerLose

Returns ES_NO_EVENT

Local Variables: NextState

beeCounter

servoCounter

Set NextState to CurrentState

Based on the state of the CurrentState variable, choose one of the following blocks of code:

CurrentState is InitGamePState

IF ThisEvent is ES_INIT

Set NextState to WaitingForGo

ENDIF

END

CurrentState is WaitingForGo

IF ThisEvent is ES_TIMEOUT

IF ThisEvent.EventParam is number for GoTimer

Turn off yellow LED

Turn on Green LED

Set NextState to Racing

post event to honeyClock service to start honey clock

ENDIF

IF ThisEvent is ES_RESET

call reset function

Set NextState to WaitingForGo

ENDIF

CurrentState is Racing

IF ThisEvent is ES_STOMPRISE

IF servoCount is equal to servoWinPosition

post ES_PLAYERWIN to RunGameSM

send player lose message to other c32, post ES_PLAYERWIN to comm module

Set NextState to PlayerCelebrate

ELSE

Advance player servo 1 step

Set NextState to Racing

IF ThisEvent is ES_BATONFALL

increment beeCounter

Set NextState to Racing

IF beeCounter is equal to beeThreshold

send STING message, post ES_STING to communication module

reset beecounter = 0

ENDIF

IF ThisEvent is ES_STING

Turn on stinger LEDs

Turn on vibration motor

Set NextState to PullingStinger

If ThisEvent is ES_PLAYERLOST

Move player servo to start position

Turn on vibration motor

Set NextState to PlayerLose

IF ThisEvent is ES_RESET

call reset function

Set NextState to WaitingForGo

ENDIF

CurrentState is PullingStinger

IF ThisEvent is ES_FSRPINCH

Turn off the stinger LEDS

Turn of the vibration motor

Set NextState to Racing

IF ThisEvent is ES_RESET

call reset function

Set NextState to WaitingForGo

ENDIF

CurrentState is PlayerCelebrate

IF ThisEvent is ES_PLAYERWIN

run the celebrate function

IF ThisEvent is ES_TIMEOUT

IF ThisEvent.Param is celebrate timer number and celebrate counter is less than threshold

move servo

toggle LED

toggle vibration motor

ENDIF

IF ThisEvent is ES_RESET

call reset function

Set NextState to WaitingForGo

ENDIF

CurrentState is PlayerLose

IF ThisEvent is ES_RESET

call reset function

Set NextState to WaitingForGo

ENDIF

Set CurrentState to NextState

Return ES_NO_EVENT

END of RunGameSM

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Private Functions

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void RunGameReset(void)

Purpose: resets the game components to their initial state

Turn off all LEDs

Move all servos back to starting position

Turn off vibration motor

post reset to communication module

post ES_RESET to InitSM

void celebrate(void)

make the servo move back and forth

pulse the leds

pulse the vibration motor

post ES_RESET to all modules, post to comm module to send reset message