Given that we are using XBee modules to communicate via the Zigbee protocol between two PIC32s we decided to create two copies of the Framework4PIC32. One for the PIC32 on the boat called "boatFramework" and another for the PIC32 on the controller called "controllerFramework". This helped with organization of the events and services that each PIC32 is concerned about. For each framework their will be an overall description of the services used and the pseudo-code for them. All the detailed code can be found in the GitHub repository found in this link.

The Mallard Module shall have two modes: Drive Mode and Refuel Mode. It must be impossible to be in both modes simultaneously

Drive Mode

1. When in Drive Mode, the Mallard Module shall be capable of controlling the propulsion.

2. Any recharging input shall be ignored while in this state.

Refuel Mode

1. When in Refuel Mode, the Mallard Module shall be allowed to increase the steam pressure of the Quackraft.

2. Any driving or mechanism control inputs shall be ignored while in this state.

3. While in this state, refueling should only occur while the user of the Mallard Module partakes in some sort of refueling action.

4. The refueling action of the Mallard Module must implement an activity consisting of large-scale human body movements. It should be inventive and interesting for the audience to watch. Use of actions that make the Mallard Module operator look and feel foolish are encouraged.

5. The required Mallard Module refueling action must last continuously for at least 5 seconds. Partial completion of a refueling action should result in partial refueling of the Quackraft, proportional to time spent performing the refueling action.

Pseudo-code:

XBee Communications:

For our state machines we need limited communication between the two PIC32s. In total we have about 15 defined commands that trigger transitions using information from the other PIC32. For that reason on the leader side we are using a simple timer to trigger a send message (SPIOperate_SPI1_Send8(message2send);)  and an Event Checker on the follower for (SPIOperate_HasSS1_Risen()) to read a new message like (uint8_t newMessage = (uint8_t)SPIOperate_ReadData(SPI_SPI1);) when the SPI chip select line has risen indicating a tranmission was completed. Then, in order to organize and send the commands we have ES events for commands to be sent (ES_NEW_SPI_CMD_SEND) or indicate that we received a command (ES_NEW_SPI_CMD_RECEIVED) for which we encode the 8 bit message in the event parameter. The command values for the event parameters are defined in the SPI header so that any other service can see them and use them with ease. 

Controller:

Consists of two main serives. One that handles the main controller logic and actions based on inputs, sensors and information received over the XBee messages (MallardCommunicationService); and another for the fuel logic and display (FuelServoService). The main inputs are a potentiometer for selecting a boat to pair with, a limit switch for indicating refueling, two joystick presses digital inputs for pairing and shooting, and two analog joystick inputs to command throttle and direction.

Libraries Used:

PIC32_PWM_Lib: Output compare library to set up timers, channels, modes, and mapping pins. Primary use is servo PWM.

See github for full source code on this link.