Software - Follower

Follower Top HSM

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.

FollowerTopHSM Pseudocode

FollowerTopHSM Source Code

FollowerTopHSM Header File

Motors Active State Machine

The Motors Active SM handled most of the game strategy, receiving commands from the leader and determining necessary drivetrain commands.

MotorsActiveSM Pseudocode

MotorsActiveSM Source Code

MotorsActiveSM Header File

Line Following Fwd State Machine

The LFFwdSM abstracts the line following algorithm as Bitbucket moves along a branch towards a commit.

LFFwdSM Pseudocode

LFFwdSM Source Code

LFFwdSM Header File

Line Following Bkwd State Machine

The LFFwdSM abstracts the line following algorithm as Bitbucket moves along a branch back to the repo.

LFBackSM Pseudocode

LFBackSM Source Code

LFBackSM Header File

Keystroke Service

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.

FKeystrokeService Pseudocode

FKeystrokeService Source Code

FKeystrokeService Header File

Additional Files

AD Lib Source Code

Port HAL Source Code

Main Source Code

Servo Motor Source Code

DC Motor Source Code

Follower SPI Source Code

Commands Header File