Finite State Machines
=====================

Each task in our main program is implemented as a finite state machine (FSM), 
structured using a switch-case statement within a while loop. At any given time, 
an FSM resides in a specific state, executing its corresponding task. Since the 
main program can only be in one state and execute one task at a time, scheduler 
priorities and periods are carefully optimized to run as efficiently as 
possible. The FSMs are implemented in the following tasks: 

Motor FSM
----------

.. figure:: ./image/MotorStateMachine.png
   :alt: Motor FSM
   :align: center



Comms FSM
----------

.. figure:: ./image/ComsStateDiagram.png
   :alt: Comms FSM
   :align: center



Collect FSM
-----------

.. figure:: ./image/CollectorStateMachine.png
   :alt: Collect FSM
   :align: center


IR Sensor FSM
-------------

.. figure:: ./image/IRStateMachine.png
   :alt: IR Sense FSM
   :align: center



Motor Control FSM
-----------------

.. figure:: ./image/Mot_Controller_State_Machine.png
   :alt: Motor Control FSM
   :align: center