Hardware control
The Hierarchical State Machine was designed independently of the robot's interaction with hardware. Sensor reading, actuator control, and communication protocols were decomposed from the state machine allowing for easier debugging and development. This also allows anyone to use these files, as they are dependent only on the pins assigned on the microcontroller. The pin assignments were all separated into a single header file to avoid overlap which is also included.
There are two levels of hardware control files. The first are direct libraries that create the pulses, signals, and waves required to manipulate actuators like motors and servos. These files never use these functions. The second level are files that use the lower level libraries to control the actuators or read the sensors in such a way that is useful for the state machine.
There are two levels of hardware control files. The first are direct libraries that create the pulses, signals, and waves required to manipulate actuators like motors and servos. These files never use these functions. The second level are files that use the lower level libraries to control the actuators or read the sensors in such a way that is useful for the state machine.
.C and .H Files for hardware control
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Headers only
Headers and Source Files
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