/*
 * fsm.h
 *
 *  Created on: Oct 18, 2024
 *      Author: akeguo
 */

#ifndef INC_FSM_H_
#define INC_FSM_H_
#include "stdint.h"


extern double Error_Cont_Thresh;







void Move_Horizontal_Vertical_Task_Backwards_Do_Backward();
void Move_Horizontal_Vertical_Task_Forwards_Do_Forwards();




typedef enum _MoveSTATE_t
{
	Move_HALT=0,//停止
	Move_Forwards,//前进
	Move_Backwards,//后退
	Move_TurnLeft,//左转
	Move_TurnRight,//右转
	Move_Vertical_Task_Forwards,//竖直方向前进 保持竖直运行
	Move_Vertical_Task_Backwards,//竖直方向后退前进 保持竖直运行
	Move_Horizontal_Task_Forwards,//水平方向前进，保持水平方向
	Move_Horizontal_Task_Backwards,//水平方向后退，保持水平方向
} MoveSTATE_t;

typedef enum _SwingSTATE_t
{
	Swing_Halt = 0,
	Swing_Left = 1,
	Swing_Right = 2,
	Swing_Home=3,

} SwingSTATE_t;

typedef struct _transition_t
{
	int State; //状态
	void (*robotRun)(void); //执行相关动作
} transition_t;

typedef enum _PushRodSTATE_t
{
	PushRod_HALT = 0,
	PushRod_UP = 1,
	PushRod_Down = 2,
} PushRod_STATE_t;

















extern MoveSTATE_t CurrentMoveState;
extern char is_upper_computer_take_over_control;
extern char Switch_Off_Flag;

void GF_Dispatch();
void action_perfrom();
void Fsm_Init();
#endif /* INC_FSM_H_ */