bool InitDisarmFSM ( uint8_t Priority )
{
ES_Event ThisEvent;
PortFunctionInit(); //initialize pins PA2-5, PB2-3, PD7, PF0 as GPIO
initTapeSensors(); //initialize tape sensor
initPhototransistor(); //initialize phototransisor
initMotors(); //initialize motors
initializeServos(); //initialize servo motors
LEDShiftRegInit(); //initialize LED shift register
LCDInit(); //initialize LCD display
InitAdafruitAudioPortLines(); //initialize audio
initArmedLine();
MyPriority = Priority;
CurrentState = Armed;
ThisEvent.EventType = ES_INIT;
if (ES_PostToService( MyPriority, ThisEvent) == true)
{
return true;
}else
// if initialization failed
{
return false;
}
}
task main(){
initializeServos();
//waitForStart(); //enable for Samantha
do{
getJoystickSettings(joystick); //gathers joystick input
processWheelMovement();
processDispenserMovement();
processScoringMovement();
}while(true); //This loop never ends
}