State Machines

State Machines

Auton

States & Abbreviations

• d2sl: Driving to Scoring Location
• dpp: Deposit Purple Pixel
• d2bb: Driving to Backboard
• sob: Scoring on backboard 😭
• d2ps: Go to pixel stack
• pp: Pickup Pixel
• park: Park

Diagram

stateDiagram-v2
    d2bb1 : Driving to Backboard (1)
    dpp : Deposit Purple Pixel
    d2bb : Driving to Backboard
    sob : Scoring on Backboard
    d2ps : Driving to Pixel Stack
    pp : Pickup Pixel
    park : Park

    [*]-->d2bb1
    d2bb1-->dpp : Arrived at Location
    dpp-->d2bb : Intake Dropped Purple
    d2bb-->sob : Arrived at Location
    sob-->d2ps : If have time & Claw Empty
    sob-->park : If Low Time & Claw Empty
    d2ps-->pp : Arrived at Location
    pp-->d2bb : Pixels in intake
    park-->[*]

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