Software - Leader

Leader Top HSM

The Leader Top HSM is the Master service for the Leader PIC. It primarily controls the game timer and runs the lower-level Leader Playing SM.

LeadTopHSM Pseudocode

LeadTopHSM Source Code

LeadTopHSM Header File

Leader Playing State Machine

The Leader Playing SM handled most of the game strategy, sending commands to the follower based on beacon detection, branch navigation (through a lower-level SM), and commit pushing.

LeaderPlayingSM Pseudocode

LeaderPlayingSM Source Code

LeaderPlayingSM Header File

Navigating Branch State Machine

The Navigating Branch SM abstracts all game logic that uses the ultrasonic sensor as our robot drives along a branch and returns back to the repo.

NavigatingBranchSM Pseudocode

NavigatingBranchSM Source Code

NavigatingBranchSM 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.

KeystrokeService Pseudocode

KeystrokeService Source Code

KeystrokeService Header File

Additional Source Files

SPI HAL Source Code

Port HAL Source Code

HSM Main Source Code