HoneyBeeSM

HoneyBeeSM State Machine

HoneyBeeSM Pseudocode

HoneyBee.SM

/******************************************************************************/

HONEY BEE MODULE STATE MACHINE PSEUDO-CODE

InitializeHoneyBeeSM

Takes a priority number, returns True

Initialize servo

Initialize the MyPriority variable with the passed in parameter

Initialize HoneyTimer

Set CurrentState to be InitHoneyBee

post Event ES_INIT to InitHoneyBeeSM (this service)

End

RunHoneyBeeSM (implements the state machine for the HoneyBee Servo)

The EventType field of ThisEvent will be of one: ES_INIT, ES_HONEYWIN, ES_RESET

List of States: InitHoneyBee, HoneyWaiting, HoneyRacing, HoneyCelebrate

Returns ES_NO_EVENT

Module Variables: HoneyBeeServoCounter

Set NextState to CurrentState

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

CurrentState is InitHoneyBeeSM

IF ThisEvent is ES_INIT

Do initialization

Set NextState to Racing

ENDIF

CurrentState is HoneyWaiting:

IF ThisEvent.EventType is equal to ES_TIMEOUT AND ThisEvent.EventParam is equal to GoTimer

Set NextState to HoneyRacing

set the honeybee timer to 500 ticks (500ms)

start the HoneyTimerSet HoneyBee Timer

ENDIF

CurrentState is Racing

IF ThisEvent is ES_TIMEOUT

IF ThisEvent.EventParam is number for goTimer

Set NextState to Racing

Set HoneyBee Timer

Start HoneyBee Timer

ENDIF

IF ThisEvent.EventParam is number for HoneyBeeTimer

move HoneyBeeServo K steps forward (K depends on the speed of the honeyBee, counter++)

IF HoneyBeeServo reaches its maximum

Post ES_HONEYWIN to RunGameSM

ELSE

Set NextState to Racing

Set HoneyBee Timer

Start HoneyBee Timer

ENDIF

ENDIF

IF ThisEvent is ES_PLAYERWIN

call reset function

Set NextState to HoneyWaiting

ENDIF

IF ThisEvent is ES_PLAYERLOST

call reset function

Set NextState to HoneyWaiting

ENDIF

IF ThisEvent is ES_RESET

call reset function

Set NextState to HoneyWaiting

ENDIF

CurrentState is HoneyCelebrate:

IF ThisEvent.EventType is equal to ES_TIMEOUT AND ThisEvent.EventParam is equal to HoneyDanceTimer

IF DanceCount < 3

If Dance flag is 0

Move the servo forward

If Dance Flag is 1

Move the Servo backward

ENDIF

If DanceCount = 3

Run HoneyReset function

ENDIF

ENDIF

IF ThisEvent is ES_RESET

call reset function

Set NextState to HoneyWaiting

ENDIF

void HoneyBeeReset(void)

Reset HoneyBeeServo and its counter