The Follower Top HSM is the Master service for the Follower PIC. It primarily responds to the game timer and runs the lower-level Follower SMs.
The Motors Active SM handled most of the game strategy, receiving commands from the leader and determining necessary drivetrain commands.
The LFFwdSM abstracts the line following algorithm as Bitbucket moves along a branch towards a commit.
The LFFwdSM abstracts the line following algorithm as Bitbucket moves along a branch back to the repo.
Used to check all of the state machines' logic by simulating gameplay and using keystrokes to fire events. This enabled quick SM development and incremental sensor integration as hardware was built.