/****************************************************************************
 Module:
 	Robot_SM.c

 Description:
 	A hierarchical state machine for the ME218B project.

 Module Variables:
	CurrentState

****************************************************************************/

/****************************************************************************
 Function RunRobot_SM
 	Takes an event to process
	Returns an event to return
****************************************************************************/
Depending on CurrentState:
   If robot is off...
		... and game starts,
            		turn robot on.
    If robot is on...
         ... and Game Timer expires,
					turn robot off.
                       
If we are making a state transition
    Execute exit function for current state
    Execute entry function for new state
    return ReturnEvent

End of function

/****************************************************************************
 Function StartRobot_SM
	Takes an event CurrentEvent
	Returns nothing
	Does any required initialization for this state machine
 ***************************************************************************/
Set Current State to Off State
Call RunRobotSM with CurrentEvent
End of function


/****************************************************************************
 Function QueryRobot_SM	
	Takes nothing
	Returns the current state of the Robot state machine
****************************************************************************/
Return the value of CurrentState
End of function	

/***************************************************************************
 'During' functions:
 ***************************************************************************/

DuringOffState
	Entry functions: none
	Exit functions: none
	During functions: none
End of function

DuringOnState
	Entry functions:
		Start Driving SM with current event
		Start Hopping SM with current event
	Exit functions:
		Run Drivng SM with current event
		Run Hopping SM with current event
		Stop the hopper motor
		Stop the drive motors
	During functions:
		Run Drivng SM with current event
		Run Hopping SM with current event
		Return any new events
End of function