AME 3623: Project 9: Finite State Machines

• All components of the project are due by Thursday, April 27th at 9:00 am
• Groups are the same as for project 1.
• Discussion within groups is fine.
• Discussion across groups may not be about the specifics of the solution (general programming/circuit issues are fine to discuss).

At the end of this project, you should be able to:

• design a finite state machine (FSM) for mission-level control,
• translate a FSM design into C code
• connect FSM events to sensor events,
• connect FSM actions to control actions, and
• debug both FSM designs and code.

Project Outline

1. Wait for the switch to be pressed.

2. Record the current orientation. This will be your goal orientation.

3. After a 5-second delay, ramp up the middle fan to a point where the craft begins to turn (as measured by the gyro).

4. (perhaps) Slightly drop the middle fan thrust.

5. Move forward until a wall is detected to the front.

6. Stop

7. Make a 90 degree turn to the left

8. Move forward until another wall is detected to the front.

9. Stop, including shutting down all fans.

Component 1: Hardware

Component 2: Finite State Machine

Design your FSM on paper. This FSM must accomplish all of the above steps, including handling the start from the switch press and the stopped state.

Component 3: Software

• Add the distance sensor query process to the sensor_task. The calibrated distance should be stored in a global variable (an array).

• Make sure that your theta_goal variable is now declared as global

• Add a new variable type to "project.h":

  typedef enum {
     STATE_START,
     #LIST YOUR OTHER STATES HERE#
  } State;
  

• Add a fsm_task that will be responsible for sequencing the steps described above. This task should execute once every 50ms. This task will make use of the globally declared variables to access sensor states (distance sensors and the IMU) and to affect the low-level controllers implemented by control_task (orientation and velocity goals). The FSM may directly manipulate the center fan, but will rely on the control_task to handle the lateral fans.

Notes

• Implement your FSM incrementally: get one piece working well first and then grow it.

• Draw your FSM before you implement it in code. If you change your implementation, make the change on the diagram first, then work on the code.

• You can do a lot of testing with your craft being held by a group member. This will help you separate the problems of debugging high- and low-level code (but, in the end, it must all work together).

• Introduce STATE_STOPPING and STATE_STOPPED early into your design/implementation.

• This is an involved project. Start early.

• Keep your batteries charged.

What to Hand In

• Demonstration/Code Review: All group members must be present. The demonstration must be completed by Tuesday, May 2nd in order to receive credit for the project.

• Check in the following to your project 9 area of your subversion tree:
  • FSM Diagram: in PDF format. This diagram must use the "event/action" notation for the arrows.

  • Documented code: See the project 1 specification for detailed documentation requirements.

• Personal report: Catme surveys must be completed by Tuesday, May 2nd.

Grading

• Each person must accumulate at least three personal programming credits over the course of the semester. This project offers one.

• To receive credit, you must be the primary designer, implementer and debugger of the component. This does not mean that your other group members should not be looking over your shoulder. But: you must do the "driving."

• 35%: Project implementation
• 30%: Demonstration of working project (to either of the TA or the instructor)
• 35%: Documentation

Group Grading Rubric

Grades for individuals will be based on the group grade, but weighted by the assessed contributions of the group members to the non-personal programming items.

andrewhfagg -- gmail.com

Last modified: Wed Apr 19 23:39:25 2017