/****************************************************************************
 Module
   Gameplay_GameTasks_CollectBallsSM.c

 Revision
   2.0.1

 Description
   This is a sub state machine (3rd level) called CollectBalls within the
   GameTasks level within the Gameplay module for ME 218B project for Team 3.
   Implements a hierarchical state machine under the Gen2 Events and
   Services Framework.

 Notes

 Private Definitions
   ENTRY_STATE
   BackingUpTime
   CurrentState



ES_Event_t RunCollectBallsSM(ES_Event_t CurrentEvent) -----------------------
  // default to normal entry to new state

  // based on our current state:
    // if current state is Idle
      // execute During function for DuringDrivingForward state
      // process any events
        // based on the event type:
          // if our robot has bumped into a wall in front left corner
            // post MOTOR_COMMAND with EventParam BACKWARDS
            // start timer to allow robot to back away from wall
            // we want to move to BackingUp state
            // mark that we are taking a transition
            // consume this event for the upper state machines
          // if our robot has bumped into a wall in front right corner
            // post MOTOR_COMMAND with EventParam BACKWARDS
            // start timer to allow robot to back away from wall
            // we want to move to BackingUp state
            // mark that we are taking a transition
            // consume this event for the upper state machines

    // if current state is BackingUp
      // execute During function for BackingUp
      // process any events
        // based on the event type:
          // if our robot has finished backing up a bit
            // check that the correct timer timed out (GameplayTimer)
              // post MOTOR_COMMAND with EventParam CCW90
              // we want to move to TurningCCW90 state
              // mark that we are taking a transition
              // consume this event for the upper state machines

    // if current state is TurningCCW90
      // Execute During function for GoingAroundRobot
      // process any events
        // based on the event type:
          // if our robot has finished driving around robot
            // check that the correct timer timed out (MotorTimer)
              // post MOTOR_COMMAND with EventParam FORWARD
              // we want to move to DrivingForward state
              // mark that we are taking a transition
              // we will not consume this event so the upper state machines
              // can react on this event

  // if we are making a state transition
    // Execute exit function for current state
    // Modify state variable
    // Execute entry function for new state


void StartCollectBallsSM(ES_Event_t CurrentEvent) ---------------------------
  // to implement entry to a history state or directly to a substate
  // you can modify the initialization of the CurrentState variable
  // otherwise just start in the entry state every time the state machine
  // is started
  // call the entry function (if any) for the ENTRY_STATE


CollectBallsState_t QueryCollectBallsSM(void) -------------------------------
  // return CurrentState variable


static ES_Event_t DuringDrivingForward(ES_Event_t Event) --------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
    // no tasks to do for entry into DrivingForward
    // no lower level state machine to start
  // process ES_EXIT event
    // no lower level state machine to pass the exit to
    // no tasks to do for exit from DrivingForward
  // process other events
    // this state doesn't have a lower state machine to run
  // return either Event, if you don't want to allow the lower level machine
  // to remap the current event, or ReturnEvent if you do want to allow it.


static ES_Event_t DuringBackingUp(ES_Event_t Event) -------------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
    // no tasks to do for entry into BackingUp
    // no lower level state machine to start
  // process ES_EXIT event
    // no lower level state machine to pass the exit to
    // no tasks to do for exit from BackingUp
  // process other events
    // this state doesn't have a lower state machine to run
  // return either Event, if you don't want to allow the lower level machine
  // to remap the current event, or ReturnEvent if you do want to allow it.


static ES_Event_t DuringTurningCW90(ES_Event_t Event)
  // process ES_ENTRY, ES_ENTRY_HISTORY & ES_EXIT events
    // no tasks to do for entry into TurningCW90
    // no lower level state machine to start
  // process ES_EXIT event
    // no lower level state machine to pass the exit to
    // no tasks to do for exit from TurningCW90
  // process other events
    // this state doesn't have a lower state machine to run
  // return either Event, if you don't want to allow the lower level machine
  // to remap the current event, or ReturnEvent if you do want to allow it.


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