AME 3623: Project 10: Finite State Machines II

NOTE: Do NOT seriously start on this project until you have completed your project 9 code review.

• All components of the project are due by Friday, May 1st. at 11:59pm
• 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 complex 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. At the beginning of a test run, your hovercraft will be placed in either the A or B configuration shown (it will be placed in the middle of the hallway). Your program will not be given any information about which configuration it is in.

2. Your FSM must wait for the switched to be pressed before it starts its run.

3. Your hovercraft must navigate from its initial configuration to a new position:
   • If started in A, then end in D
   • If started in B, then end in C

   Note: "ending" at a location is very liberal; if your hovercraft stops within 2 feet of the end of the designated hallway, then it is considered as having arrived successfully.

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.

Notes

• If you are using your physical craft at home, we recognize that you will likely deviate from the environment shown above. Do you best to replicate it, but we will accept many different environments. The key is that starting locations A and B are not distinguishable given the sensors that are on your hovercraft.

• 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).

• This is an involved project. Start early.

• Keep your batteries charged. Use the green batteries when you are not actually flying.

• During a run, your code is not expected to deal with the dynamics of sliding against a wall. If this starts to happen, then the person conducting the test will push the hovercraft a little way from the wall.

What to Hand In

• Demonstration/Code Review: All group members must be present. The demonstration must be completed by Tuesday, May 5th in order to receive credit for the project. However, we have a strong preference for completing these by May 1st.

• Check in the following to your project 10 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: There is no personal report due for this project.

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: Thu Apr 16 00:10:06 2020