/**************************************************************************** Header file for ToDispenser state machine ****************************************************************************/ #ifndef SMToDispenser_H #define SMToDispenser_H // Event Definitions #include "SMEvents.h" // typedefs for the states typedef enum { To_Aligning, To_Tracking, To_Reversing, To_BlindTurn, To_Orienting, To_LineFinding } ToState_t ; // Public Function Prototypes //State machine functions Event_t RunToDispenserSM( Event_t CurrentEvent ); void StartToDispenserSM ( Event_t CurrentEvent ); ToState_t QueryToDispenserSM ( void ); //Other functions /**************************************************************************** Function QueryAtDispenserFlag Returns 1 if at dispenser, 0 otherwise Description checks to see if we have arrived at a dispenser. ****************************************************************************/ unsigned char QueryAtDispenserFlag (void); #endif /*SMToDispenser_H */