Pseudocode for DOG_FSM.c


InitDOG_FSM

	Set CurrentState to WaitingToPair
	Initialize UART for communication with XBee
	Initialize UART for communication with TREAT
	Initialize PE0 for ADC
	Kill Lift fan
	Put LEDs into the initial alternatively flashing state
	
  	Post the initial transition event
end InitDOG_FSM



RunDOG_FSM

	if the event type is ES_TIMEOUT
		if the event param is BLUE_LED_STRIP_TIMER
			toggle blue LED strip
			restart blue LED strip timer
		else if the event param is RED_LED_STRIP_TIMER
			toggle the red LED strip
			restart red LED strip timer
		end if
	end if
	
	
	switch on CurrentState
		
		case WaitingToPair state
			if Event type is ES_PACKET_RX AND Event param is REQ_2_PAIR
				start LOST_CONN_TIMER (1s)
				Post ES_BEGIN_TXMIT with event param of PAIR_ACK to DOGTXmitSM
				Set Current State to PairedAndWaitingForKey
				break

    	case PairedAndWaitingForKey state
			if Event type is ES_PACKET_RX AND Event param is ENCR_KEY
				(Store encryption key is already done in DOGRxSM)
				Set encryption index to 0
				Start LOST_CONN_TIMER (1s)
				Post ES_BEGIN_TXMIT with event param of STATUS to DOGTXmitSM
				Set CurrentState to Paired
				Start Paired LED Behavior
				Open Shark Mouth
				Post ES_PAIRED to DOGSharkMotions
			else if Event type is ES_TIMEOUT AND Event param is LOST_CONN_TIMER
				Start Unpaired LED Behavior									 
				Kill lift fan
				Close Shark Mouth								 				
				Post ES_UNPAIRED to DOGSharkMotions
        		Set CurrentState to WaitingToPair
				break
			
		case Paired state
			if the Event type is ES_PACKET_RX
				Start LOST_CONN_TIMER (1s)
				if the decrypted header is CTRL
					Post the decrypted ctrl bytes to MotionService
					Evaluate effects of the digital brake and peripheral commands
					If brake is not to be applied
						turn lift fan on
					else (If brake is to be applied)
						turn lift fan off
					end if
					If the peripheral bit is high
						Start Chomp LED Behavior
						Close Shark Mouth
						Start chomp timer
					end if
					Clear decrypted ctrl so that the 'if' statement above works
					when a new packet comes in
					Post ES_BEGIN_TXMIT with event param of STATUS to DOGTXmitSM
				else (Decrypted header is garbage thus decryption index is off)
					Post ES_BEGIN_TXMIT with event param of ENCR_RESET to DOGTXmitSM
					Set encryption index to 0
				end if
			else if the Event Type is ES_TIMEOUT	
				if the event param is LOST_CONN_TIMER
					Start Unpaired LED Behavior
					Close Shark Mouth
					Kill Thrust
					turn lift fan off 
					Post ES_UNPAIRED to DOGSharkMotions
          			Set CurrentState to WaitingToPair
				else if the event param is MOUTH_CHOMP_TIMER
					Open Shark Mouth 					
					Start Paired LED Behavior
				end if
			end if
			break
		
  End switch on CurrentState
  return ReturnEvent
end RunDOG_FSM




ReadDogTag
	Do ADC multiread
	if the DogTagReading is between the upper and lower limits for DOG_1
		return DOG_1
	else if DogTagReading is between the upper and lower limits for DOG_2
		return DOG_2
	else if DogTagReading is between the upper and lower limits for DOG_3
		return DOG_3
	else
		return INVALID_DOGTAG
	end if
end ReadDogTag




StartUnpairedLEDBehavior 
(Puts LEDs into an alternatively flashing state and kicks off relevant timers)
	turn on blue LEDs
	turn off red LEDs 
	set blue LED strip period to unpaired period
	set red LED strip period to unpaired period
	start blue LED strip timer
	start red LED strip timer
end StartUnpairedLEDBehavior 


StartPairedLEDBehavior
(Puts LEDs into a alternatively flashing state and kicks off relevant timers)
	turn on blue LEDs
	turn off red LEDs 
	set blue LED strip period to paired period
	set red LED strip period to paired period
	start blue LED strip timer
	start red LED strip timer
end StartPairedLEDBehavior 

StartChompLEDBehavior
(Puts LEDs into a alternatively flashing state and kicks off relevant timers)
	turn on blue LEDs
	turn off red LEDs 
	set blue LED strip period to chomp period
	set red LED strip period to chomp period
	start blue LED strip timer
	start red LED strip timer
end StartChompLEDBehavior