Pseudocode for FARMER_FSM.c

 Description
	 Manages high-level information passing for the FARMER controller

InitFARMER_FSM

	Set MyPriority equal to Priority parameter
	Set CurrentState to WaitingToPair
	
	Initialize UART, for communication via XBee
	Initialize DOG select input pins
	Initialize LED output pins
	Initialize IMU LED Display
		
	Post the initial transition event
end InitFARMER_FSM



RunFARMER_FSM

Switch on the current state
	case WaitingToPair state
		switch on event type
			case ES_PAIR_EVENT
				Start LOST_CONN_TIMER for 1s = 1000 ms
				Determine which DOG has been chosen to pair with (by umbrella mechanism)
				Post ES_BEGIN_TXMIT with event param of REQ_2_PAIR to FARMERTXmitSM	
				Set CurrentState to WaitingForPairResponse
				break on this case
		break on this case


    case WaitingForPairResponse state
		switch on event type
			case ES_PACKET_RX
				if the event param is PAIR_ACK
					Start LOST_CONN_TIMER for 1s
					Post ES_BEGIN_TXMIT with event param of ENCR_KEY to FARMERTXmitSM
				 	Start INTER_MSG_TIMER
					Pulse Active Comm LED
					Turn on RGB LEDs indicating pairing (depends on which DOG is chosen)
					Set CurrentState to Paired
				end if
				break on this case
					
			case ES_TIMEOUT
				if the event param is LOST_CONN_TIMER
					Turn off the Active Communication LED						
					Set CurrentState to WaitingToPair
				else if the event param is LED_TIMER
					Turn off the Active Communication LED
				end if
				break on this case
		break on this case
		
	case Paired state
		switch on event type
			case ES_PACKET_RX
				Start LOST_CONN_TIMER for 1s = 1000 ms
				Pulse Active Comm LED
				if the event param is STATUS
					Update the IMU display using the relevant bits from the STATUS packet 
				else if the event parameter (the header) is ENCR_RESET
					Set encryption index to 0
				end if	
				break on this case
				
				
			case ES_TIMEOUT
				if the event param is LOST_CONN_TIMER
					Turn off the RGB LEDs indicating paired
					Set CurrentState to WaitingToPair
				else if the event param is INTER_MSG_TIMER				
					using data from IMUService, Post ES_BEGIN_TXMIT with event param... 
					...of CTRL to FARMERTXmitSM
					Start INTER_MSG_TIMER
				else if the event param is LED_TIMER
					Turn off the Active Communication LED
				end if
				break on this case
		end switch on event type
	end switch on CurrentState
  return ReturnEvent
end RunFARMFER_FSM



DetermineDOGSelected
	 Updates module-level variable: uint8_t DOGSelected.
     Determines which of the 3 DOGs the user wants to control, 
		 based on 3 input switches. Since there is only one physical selection
		 mechanism (the umbrella), only one switch should be on at a time. 
		 If no DOG is selected, DOGSelected is set to NO_DOG which will be 
		 handled by other functions (for instance, if NO_DOG, then trying to 
		 pair will be unsuccessful).
		 
	if if bit 4 on port C is low
		Set DOGSelected equal to DOG_1
	else if if bit 5 on port C is low
		Set DOGSelected equal to DOG_2
	else if bit 6 on port C is low
		Set DOGSelected equal to DOG_3
	else
		Set DOGSelected equal to NO_DOG
	end if
end DetermineDOGSelected