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

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

#define Light 1
#define Out_Polish 2

#define Out_Lift_1 2
#define Out_Lift_2 3

#define Out_Spray  4

//typedef enum _STATE_t
//{
//	Manual = 0,
//	Auto,
//	Abnormal,
//	SetLaneChangeDistance,
//	SetBackwardsDistance,
//	LaneChangeMode,
//	Forwards,
//	Backwards,
//	TurnLeft,
//	TurnRight,
//	HALT
//} STATE_t;

typedef enum _MoveSTATE_t
{
	Move_HALT=0,
	Move_Forwards,
	Move_Backwards,
	Move_TurnLeft,
	Move_TurnRight,

	Move_AutoForward,
	Move_AutoBackward,

	Move_ChgLeft,
	Move_ChgRight,
	Move_ChgUp,
	Move_ChgDown,

	Move_ChgFinish,
	Move_Emergency,

} MoveSTATE_t;

//设置  换道距离和设置后退距离
typedef enum _SetSTATE_t
{
	OtherMode=0,
	SetLaneChangeDistance,
	SetBackwardsDistance,
} SetSTATE_t;

typedef enum _SwingSTATE_t
{
	SwingHALT = 0,
	SwingLeft = 1,
	SwingRight = 2,
	SwingHome=3,

} SwingSTATE_t;

typedef enum _TiltSTATE_t
{
	TiltHALT = 0,
	TiltUP = 1,
	TiltDown = 2,
	TiltHome=3,
	TiltCurrentModeDown=5
} TiltSTATE_t;



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


extern int32_t* RobotSpeed;
extern int32_t JontSwingSpeed;
extern int32_t JontTiltSpeed;
extern int polish_Flag;
void Fsm_Init();
#endif /* INC_FSM_H_ */