State Machine Challenges

Recommend completing ★ from Sensor Challenges 1&2 first
Link to Sensor Challenges 1
Link to Sensor Challenges 2

Challenges:

For any state machine:

Draw the diagram!
Determine the number of states
Determine all of the transition conditions
Reference the cpp template;)
Setup enum for the correct number of states, give them good names
Rename state_name to something helpful
Fill in switch case with relevant states and transition conditions

★ Blink LED

LED has 2 states, ON & OFF
Transition Condition: has 400 ms passed?
Use previous_time and current_time method NOT sleep_ms()

★★ Follow at a Distance


                        int goal_dist = 200; //mm
                        int tolerance = 50; //mm

Goal: Stay 20 ± 5 cm from object
Use the variables above^^
3 states: WAIT, FORWARD, BACKWARD
Transition Conditions are based on distance reading from lidar and allowable tolerance

★★ Write a function to print the state

hint~ what type is our state?

★★★ Travel thru a Tunnel

Find both sides of tunnel with lidar
Rotate robot until facing the opening
Go top speed thru, should be straight enough

★★★ Detecting Slip

Keep one wheel still
Find an area of the floor that's clean
Spin one wheel to rotate the robot
Compare counts of encoder wheel to integrating imu for angle

Is the counts as expected?

Find an area of the floor that is chalky (extra slippery)

How do the counts compare now?

Hint:

Use button to start and stop motor,
then print values constantly so you can plug pico in to see them