FiniteStateMachines

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FINITE STATE MACHINES FOR ARDUINO


ONLY a collection point for ideas so far! TK

EXAMPLE SOFTWARE TO BLINK AN LED:


BLINK FROM ARDUINO DISTRIBUTION (annotated):

/* YourDuinoStarter Example: BLINK
 - WHAT IT DOES: Blinks the built-in LED ON and OFF
 - SEE the comments after "//" on each line below
 - CONNECTIONS:
 - Built-In LED and resistor connected to pin 13
 -
 - V1.01 02/11/13
 Questions: terry@yourduino.com */

/*-----( Import needed libraries )-----*/
//none yet
/*-----( Declare Constants and Pin Numbers )-----*/
#define led 13  // define name of pin number  NOTE: NO ";" on #define !
/*-----( Declare objects )-----*/
//none yet
/*-----( Declare Variables )-----*/
//none yet


void setup()   /****** SETUP: RUNS ONCE ******/
{
  pinMode(led, OUTPUT);  // initialize the digital pin as an output. 
}//--(end setup )---


void loop()   /****** LOOP: RUNS CONSTANTLY ******/
{
  digitalWrite(led, HIGH);   // turn the LED on (HIGH is the voltage level)
  delay(1000);               // wait for a second, watching the bright LED
  digitalWrite(led, LOW);    // turn the LED off by making the voltage LOW
  delay(1000);               // wait for a second, watch the Dark

}//--(end main loop )---

/*-----( Declare User-written Functions )-----*/
//None yet
//*********( THE END )***********



BLINK WITHOUT DELAY FROM ARDUINO DISTRIBUTION (annotated):

/* YourDuinoStarter Example: BLINK without delay
 - WHAT IT DOES
   Turns on and off a light emitting diode(LED) connected to a digital
   pin, without using the delay() function.  This means that other code
   can run at the same time without being interrupted by the LED code.
 - SEE the comments after "//" on each line below
 - CONNECTIONS:
   -  LED attached from pin 13 to ground.
   -  Note: on most Arduinos, there is already an LED on the board
      that's attached to pin 13, so no hardware is needed for this example.
       created 2005
    by David A. Mellis,  modified 8 Feb 2010 by Paul Stoffregen
    modified 11 Nov 2013  by Scott Fitzgerald, Annotated 12/13 by Terry King
   -
 - V1.00 12/04/2013
   Questions: terry@yourduino.com */

/*-----( Import needed libraries )-----*/
// none
/*-----( Declare Constants and Pin Numbers )-----*/
const int  ledPin   =  13;      // the number of the LED pin
const long interval = 1000;           // interval at which to blink (milliseconds)
/*-----( Declare objects )-----*/
// none
/*-----( Declare Variables )-----*/
int ledState = LOW;             // ledState used to set the LED
// Generally, you shuould use "unsigned long" for variables that hold time
// The value will quickly become too large for an int to store
unsigned long previousMillis = 0;        // will store last time LED was updated
unsigned long currentMillis  = 0;             // Will store the current time
void setup()   /****** SETUP: RUNS ONCE ******/
{
  pinMode(ledPin, OUTPUT);   // set the digital pin as output:
}//--(end setup )---


void loop()   /****** LOOP: RUNS CONSTANTLY ******/
{
  // HERE is where you'd put code that needs to be running all the time.

  //----( What you need to do every loop to blink the LED )----------
  // check to see if it's time to blink the LED:
  // Test IF the difference between the current time and last time you blinked
  // the LED is bigger than the interval at which you want to blink the LED.

  currentMillis = millis(); // Get the current time

  if (currentMillis - previousMillis >= interval) // Check if time is up
  { // IF Time is up, do the things inside these Brackets :

    previousMillis = currentMillis;   // save the last time you blinked the LED

    if (ledState == LOW)  // Change the variable with the State of the LED
      ledState = HIGH;
    else
      ledState = LOW;

    digitalWrite(ledPin, ledState);// set the LED with the ledState of the variable
  }// End of handling "Time is Up"

}//--(end main loop )---

/*-----( Declare User-written Functions )-----*/
// none
//*********( THE END )***********



STATE MACHINE BLINK (Using SM Library from Nilton)

/* YourDuinoStarter Example: SM State Machine Example
 - WHAT IT DOES
  - Use the SM Library to do non-blocking delays, blink LED
 - SEE the comments after "//" on each line below
 - CONNECTIONS:
   - Uses Onboard LED13
 - V1.00 12/3/2013
   Questions: terry@yourduino.com */

/*-----( Import needed libraries )-----*/
#include <SM.h>
/*-----( Declare Constants and Pin Numbers )-----*/
#define PIN13_LED 13
/*-----( Declare objects )-----*/
SM ThisProg(Start);
/*-----( Declare Variables )-----*/
//none

void setup()   /****** SETUP: RUNS ONCE ******/
{
  Serial.begin(115200);
  pinMode(PIN13_LED, OUTPUT);
}//--(end setup )---


void loop()   /****** LOOP: RUNS CONSTANTLY ******/
{
  EXEC(ThisProg);
}//--(end main loop )---

/*-----( Declare User-written Functions )-----*/

State Start()
{
  Serial.println("+++ Start");
  if (ThisProg.Timeout(500)) ThisProg.Set(TurnOn) ;
}
//-----------------------------------------
State TurnOn()
{
  Serial.println("ON");
  digitalWrite(PIN13_LED, HIGH);
  if (ThisProg.Timeout(500)) ThisProg.Set(TurnOff) ;
}
//-----------------------------------------
State TurnOff()
{
  Serial.println("OFF");
  digitalWrite(PIN13_LED, LOW);
  if (ThisProg.Timeout(500)) ThisProg.Set(TurnOn) ;
}

//*********( THE END )***********



FROM WESTFW (SWITCH STATE VARIABLE) BLINK EXAMPLE:

 enum {LEDON, LEDOFF} ledstate = LEDOFF;
 #define PIN13LED 13
 
 void setup ()
{
}
void loop()
{
  delay(1000);
  switch (ledstate)
  {
    case LEDON :
      digitalWrite(PIN13LED, LOW);  // if the LED was on, turn it off.
      ledstate = LEDOFF;  // new state
      break;
    case LEDOFF :
      digitalWrite(PIN13LED, HIGH);  //if it was off, turn it on.
      ledstate = LEDON;
      break;
  }//switch
}//loop



SOME OBJECTIVES FOR WAYS TO ENABLE NEWBIES:
(PaulS):Some easy to understand examples of state machines (simple ones) might be all that some people are looking for. Then, there can be a section on more advanced state machines, and how to determine the states, the transitions, the actions that trigger (or not) transitions, and the actions that occur as a state change happens, with code snippets to illustrate what the state/event/transition/trigger/action looks like in Arduino-ese would be good.

(Terry) A good example of communications (like Serial, or eventually nRF24L01) 'concurrently' running with an application. Maybe a Communications State Machine which interacts with another Application State Machine??


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