State Machines

State Machines

Auton

stateDiagram-v2
    d2dpp : Driving to Deposit Purple Pixel
    dpp : Depositing Purple Pixel
    d2bb : Driving to Backdrop
    dyp : Depositing Yellow Pixel
    d2ps : Driving to Pixel Stack
    kps : Knocking Over Pixel Stack
    ip : Intaking Pixels
    dbb : Delivering Backdrop
    p: Park

    [*]-->d2dpp
    d2dpp-->dpp : Arrived at Location
    dpp-->d2bb : Sensor Reads Pixel has Left Intake
    d2bb-->dyp : Arrived at Location
    dyp-->d2ps : Sensor Reads Pixel has Left Intake
    d2ps-->kps : Arrived at Location
    kps-->ip : Motors Read Movements Completed
    ip-->d2bb : Intake has Detected Pixels OR Time Elapsed
    d2bb-->dbb : Arrived at Location
    dbb-->p : Sensor Reads Pixel has Left Intake
    p-->[*]

Loading

TeleOp

stateDiagram-v2
    d2ps : Driving to Pixel Stack
    d2bb : Driving to Backboard
    sob : Scoring on Backboard

    [*]-->d2ps
    d2ps-->d2bb : Pixel intaked
    d2bb-->sob : Arrived at location & Pixel in claw
    sob-->d2ps : No pixel in claw
    sob-->[*] : Out of time

Loading