Finite-State

Finite-State Machine for Arduino

typedefstruct {Predicatepredicate;// Predicate Function Pointerid_tnextF;// Next State on FALSEid_tnextT;// Next State on TRUEProcessprocess;// Process Function PointerEventHandlereventHandler;// Event Function Pointertime_tdelayTime;// Delay TimeTimerTypetimerType;// Timer Type}Transition;

Predicate Function

typedefbool (*Predicate)(id_t);// Predicate Function Pointer

boolPredicateCallbackFunction(id_tid);// Predicate Callback Function

boolPredicateCallbackFunction(id_tid) {// TODO: PREDICATE FUNCTIONreturnbutton[id].isPressed(); }

boolPredicateCallbackFunction(id_tid) {// TODO: PREDICATE FUNCTIONreturnarray[id]==10; }

Next State

Process Function

typedefvoid (*Process)(id_t);// Process Function Pointer

voidProcessCallbackFunction(id_tid);// Process Callback Function

voidMotorProcess(id_tid) {StatusStatestatus;if (motor[id].timerON) {if (motor[id].running) {status=RUNNING;    }else {status=FAULT;    }digitalWrite(motor[id].faultPin,status==FAULT);  }}

id_tid=finiteStateMachine.id;

Event Handler Function

typedefvoid (*EventHandler)(EventArgs);// Event Handler Function Pointer

typedefstruct {id_tid;// State idActionaction;// Action State}EventArgs;

enumAction {NONE,EXIT,ENTRY};

voidEventCallbackFunction(EventArgse);// Event Callback Function

voidEvnetOnActionChanged(EventArgse) {switch (e.action) {caseENTRY:digitalWrite(motor[e.id].output, true);break;caseEXIT:digitalWrite(motor[e.id].output, false);break;  }}

Timer

enumTimerType {NOT_USED,// Not Used TimerTRANS_TIMER,// Transition TimerPREDIC_TIMER,// Predicate TimerFALSE_TIMER,// False State TimerTRUE_TIMER,// True State Timer};

Not Used Timer (NOT_USED)

Not-Used Timer State Diagram

Predicate Function with Process and Event

Typical Predicate Function with Process and Event State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidProcessFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {PredicateFunction,0,1,ProcessFunction,EventOnActionChanged},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,ProcessFunction,EventOnActionChanged}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Predicate Function with Process

Typical Predicate Function with Process State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidProcessFunction(id_tid);Transitiontransitions[]= {  {PredicateFunction,0,1,ProcessFunction},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,ProcessFunction}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Predicate Function with Event

Typical Predicate Function with Event State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {PredicateFunction,0,1,nullptr,EventOnActionChanged},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,nullptr,EventOnActionChanged}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Transition Timer (TRANS_TIMER)

Transition-Timer State Diagram

Transition Timer with Process and Event

Typical Transition Timer with Process and Event State Diagram

State-Transition Table

State-Transition Declaration

voidProcessFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {nullptr,0,1,ProcessFunction,EventOnActionChanged,1000,TRANS_TIMER},// State-0 - NextF = 0, NextT = 1  {nullptr,1,0,ProcessFunction,EventOnActionChanged,1000,TRANS_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Transition Timer with Process

Typical Transition Timer with Process State Diagram

State-Transition Table

State-Transition Declaration

voidProcessFunction(id_tid);Transitiontransitions[]= {  {nullptr,0,1,ProcessFunction,nullptr,1000,TRANS_TIMER},// State-0 - NextF = 0, NextT = 1  {nullptr,1,0,ProcessFunction,nullptr,1000,TRANS_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Transition Timer with Event

Typical Transition Timer with Event State Diagram

State-Transition Table

State-Transition Declaration

voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {nullptr,0,1,nullptr,EventOnActionChanged,1000,TRANS_TIMER},// State-0 - NextF = 0, NextT = 1  {nullptr,1,0,nullptr,EventOnActionChanged,1000,TRANS_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Predicate Timer (PREDIC_TIMER)

Predicate-Timer State Diagram

Predicate Timer with Process and Event

Typical Predicate Timer with Process and Event State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidProcessFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {PredicateFunction,0,1,ProcessFunction,EventOnActionChanged,1000,PREDIC_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,ProcessFunction,EventOnActionChanged,1000,PREDIC_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Predicate Timer with Process

Typical Predicate Timer with Process State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidProcessFunction(id_tid);Transitiontransitions[]= {  {PredicateFunction,0,1,ProcessFunction,nullptr,1000,PREDIC_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,ProcessFunction,nullptr,1000,PREDIC_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Predicate Timer with Event

Typical Predicate Timer with Event State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {PredicateFunction,0,1,nullptr,EventOnActionChanged,1000,PREDIC_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,nullptr,EventOnActionChanged,1000,PREDIC_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

False-State Timer (FALSE_TIMER)

False-Timer State Diagram

False Timer with Process and Event

Typical False Timer with Process and Event State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidProcessFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {PredicateFunction,0,1,ProcessFunction,EventOnActionChanged,1000,FALSE_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,ProcessFunction,EventOnActionChanged,1000,FALSE_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

False Timer with Process

Typical False Timer with Process State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidProcessFunction(id_tid);Transitiontransitions[]= {  {PredicateFunction,0,1,ProcessFunction,nullptr,1000,FALSE_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,ProcessFunction,nullptr,1000,FALSE_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

False Timer with Event

Typical False Timer with Event State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {PredicateFunction,0,1,nullptr,EventOnActionChanged,1000,FALSE_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,nullptr,EventOnActionChanged,1000,FALSE_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

True-State Timer (TRUE_TIMER)

True-Timer State Diagram

True Timer with Process and Event

Typical True Timer with Process and event State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidProcessFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {PredicateFunction,0,1,ProcessFunction,EventOnActionChanged,1000,TRUE_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,ProcessFunction,EventOnActionChanged,1000,TRUE_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

True Timer with Process

Typical True Timer with Process State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidProcessFunction(id_tid);Transitiontransitions[]= {  {PredicateFunction,0,1,ProcessFunction,nullptr,1000,TRUE_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,ProcessFunction,nullptr,1000,TRUE_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

True Timer with Event

Typical True Timer with Event State Diagram

State-Transition Table

State-Transition Declaration

boolPredicateFunction(id_tid);voidEventOnActionChanged(EventArgse);Transitiontransitions[]= {  {PredicateFunction,0,1,nullptr,EventOnActionChanged,1000,TRUE_TIMER},// State-0 - NextF = 0, NextT = 1  {PredicateFunction,1,0,nullptr,EventOnActionChanged,1000,TRUE_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Example

Fan Control With A Thermostat

State Diagram

Schematic Diagram

State-Transition Table Table

State-Transition Declaration

Transitiontransitions[]= {  {HighTempPredicate,0,1,FanStopProcess},// State-0 - NextF = 0, NextT = 1  {LowTempPredicate,1,0,FanStartProcess}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

enumFanState :id_t {STOP,START};Transitiontransitions[]= {  {HighTempPredicate,STOP,START,FanStopProcess},// State-0 - NextF = 0, NextT = 1  {LowTempPredicate,START,STOP,FanStartProcess}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

Sketch

#include"FiniteState.h"#definethermostatPin   A0#definestartStatusPin  5#definestopStatusPin   6voidFanStartProcess(id_tid);voidFanStopProcess(id_tid);boolHighTempPredicate(id_tstate);boolLowTempPredicate(id_tstate);enumFanState :id_t {STOP,START};Transitiontransitions[]= {  {HighTempPredicate,STOP,START,FanStopProcess},// State-0 - NextF = 0, NextT = 1  {LowTempPredicate,START,STOP,FanStartProcess}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State ObjectconstlongThermostatRead();voidsetup() {pinMode(startStatusPin,OUTPUT);// Set the start status pin modepinMode(stopStatusPin,OUTPUT);// Set the sotp status pin modefiniteStateMachine.begin(STOP);// FSM begins with Initial Transition Id 0}voidloop() {finiteStateMachine.execute();// Execute the FSM}boolHighTempPredicate(id_tstate) {returnThermostatRead() >=40;// Determine Fan Start Action}boolLowTempPredicate(id_tstate) {returnThermostatRead() <=30;// Determine Fan Stop Action}voidFanStartProcess(id_tid) {digitalWrite(stopStatusPin, false);// Update fan stop statusdigitalWrite(startStatusPin, true);// Update fan start status}voidFanStopProcess(id_tid) {digitalWrite(startStatusPin, false);// Update fan start statusdigitalWrite(stopStatusPin, true);// Update fan stop status}constlongThermostatRead() {longvalue=analogRead(thermostatPin);// Read Pushbutton Valuereturnmap(value,0,1023,0,100);// Scaling temperature}

Traffic Light

Traffic Light with Customized Timer (NOT_USED)

State Diagram

Schematic Diagram

State-Transition Table Table

State-Transition Declaration

Transitiontransitions[]= {  {TimePredicate,0,1,nullptr,EventOnActionChanged},// State-1 - NextF = 0, NextT = 1  {TimePredicate,1,2,nullptr,EventOnActionChanged},// State-2 - NextF = 1, NextT = 2  {TimePredicate,2,0,nullptr,EventOnActionChanged},// State-3 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

enumLightState {RED,GREEN,YELLOW};Transitiontransitions[]= {  {TimePredicate,RED,GREEN,nullptr,EventOnActionChanged},// State-1 - NextF = 0, NextT = 1  {TimePredicate,GREEN,YELLOW,nullptr,EventOnActionChanged},// State-2 - NextF = 1, NextT = 2  {TimePredicate,YELLOW,RED,nullptr,EventOnActionChanged},// State-3 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

Sketch

#include"FiniteState.h"#defineredLightPin     5#defineyellowLightPin  4#definegreenLightPin   3uint8_tlightPins[]= {redLightPin,greenLightPin,yellowLightPin};// Define an array of light pins.constuint8_tnumberOfLights=sizeof(lightPins) /sizeof(uint8_t);// Calculate the number of lights.typedefstruct {unsigned longdelayTime;unsigned longstartTime;}Timer;TimerdelayTimes[]= {  {5000},// RED Delay Time 5 seconds  {10000},// GREEN Delay Time 10 seconds  {3000},// YELLOW Delay Time 3 seconds};boolTimePredicate(id_tid);// Predicate (Input)voidEventOnActionChanged(EventArgse);// Event StateenumLightState {RED,GREEN,YELLOW};Transitiontransitions[]= {  {TimePredicate,RED,GREEN,nullptr,EventOnActionChanged},// State-1 - NextF = 0, NextT = 1  {TimePredicate,GREEN,YELLOW,nullptr,EventOnActionChanged},// State-2 - NextF = 1, NextT = 2  {TimePredicate,YELLOW,RED,nullptr,EventOnActionChanged},// State-3 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Define Finite-State Objectvoidsetup() {for (uint8_tindex=0;index<numberOfLights;index++) {pinMode(lightPins[index],OUTPUT);// Set Pin ModedigitalWrite(lightPins[index],LOW);// Set Light with the LOW state.  }finiteStateMachine.begin(RED);// FSM begins with Initial Transition Id 0}voidloop() {finiteStateMachine.execute();// Execute the FSM}boolTimePredicate(id_tid) {return (millis()-delayTimes[id].startTime >=delayTimes[id].delayTime);// Determine Time Delay}voidEventOnActionChanged(EventArgse) {switch (e.action) {caseENTRY:delayTimes[e.id].startTime=millis();// Reload start timedigitalWrite(lightPins[e.id],HIGH);// Set Light with the HIGH state.break;caseEXIT:digitalWrite(lightPins[e.id],LOW);// Set Light with the LOW state.break;  }}

Traffic Light with Transition Timer (TRANS_TIMER)

State Diagram

Schematic Diagram

State-Transition Table Table

State-Transition Declaration

Transitiontransitions[]= {  {nullptr,0,1,nullptr,EventOnActionChanged,5000,TRANS_TIMER},// State-1 - NextF = 0, NextT = 1  {nullptr,1,2,nullptr,EventOnActionChanged,10000,TRANS_TIMER},// State-2 - NextF = 1, NextT = 2  {nullptr,2,0,nullptr,EventOnActionChanged,3000,TRANS_TIMER},// State-3 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

enumLightState :id_t {RED,GREEN,YELLOW};Transitiontransitions[]= {  {nullptr,RED,GREEN,nullptr,EventOnActionChanged,5000,TRANS_TIMER},// State-1 - NextF = 0, NextT = 1  {nullptr,GREEN,YELLOW,nullptr,EventOnActionChanged,10000,TRANS_TIMER},// State-2 - NextF = 1, NextT = 2  {nullptr,YELLOW,RED,nullptr,EventOnActionChanged,3000,TRANS_TIMER},// State-3 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

Sketch

#include"FiniteState.h"#defineredLightPin     5#defineyellowLightPin  4#definegreenLightPin   3uint8_tlightPins[]= {redLightPin,greenLightPin,yellowLightPin};// Define an array of light pins.constuint8_tnumberOfLights=sizeof(lightPins) /sizeof(uint8_t);// Calculate the number of lights.voidEventOnActionChanged(EventArgse);// Event StateenumLightState :id_t {RED,GREEN,YELLOW};Transitiontransitions[]= {  {nullptr,RED,GREEN,nullptr,EventOnActionChanged,5000,TRANS_TIMER},// State-1 - NextF = 0, NextT = 1  {nullptr,GREEN,YELLOW,nullptr,EventOnActionChanged,10000,TRANS_TIMER},// State-2 - NextF = 1, NextT = 2  {nullptr,YELLOW,RED,nullptr,EventOnActionChanged,3000,TRANS_TIMER},// State-3 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Define Finite-State Objectvoidsetup() {for (uint8_tindex=0;index<numberOfLights;index++) {pinMode(lightPins[index],OUTPUT);// Set Pin ModedigitalWrite(lightPins[index],LOW);// Set Light with the LOW state.  }finiteStateMachine.begin(RED);// FSM begins with Initial Transition Id 0}voidloop() {finiteStateMachine.execute();// Execute the FSM}voidEventOnActionChanged(EventArgse) {switch (e.action) {caseENTRY:digitalWrite(lightPins[e.id],HIGH);// Set Light with the HIGH state.break;caseEXIT:digitalWrite(lightPins[e.id],LOW);// Set Light with the LOW state.break;  }}

Coin Operated Turnstile

Coin Operated Turnstile with Predicate and Process

State Diagram

Schematic Diagram

State-Transition Table Table

State-Transition Declaration

Transitiontransitions[]= {  {CoinPredicate,0,1,LockedProcess},// State-0 - NextF = 0, NextT = 1  {ArmPredicate,1,0,UnlockedProcess}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

enumTurnstileState :id_t {LOCKED,UNLOCKED};Transitiontransitions[]= {  {CoinPredicate,LOCKED,UNLOCKED,LockedProcess},// State-0 - NextF = 0, NextT = 1  {ArmPredicate,UNLOCKED,LOCKED,UnlockedProcess}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

Sketch

#include"FiniteState.h"#include"RepeatButton.h"#definecoinInputPin      A0    // Define the Coin input pin.#definearmInputPin       A1    // Define the Arm input pin.#definelockedStatusPin   7     // Define the Locked state output pin.#defineunlockedStatusPin 6     // Define the Unlocked state output pin.boolCoinPredicate(id_tid);// Declare Coin Predicate functionboolArmPredicate(id_tid);// Declare Arm Predicate functionvoidLockedProcess(id_tid);// Declare Locked Process functionvoidUnlockedProcess(id_tid);// Declare Unlocked Process functionenumTurnstileState :id_t {LOCKED,UNLOCKED};Transitiontransitions[]= {  {CoinPredicate,LOCKED,UNLOCKED,LockedProcess},// State-0 - NextF = 0, NextT = 1  {ArmPredicate,UNLOCKED,LOCKED,UnlockedProcess}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatecoinOperatedTurnstile(transitions,numberOfTransitions);// Finite-State ObjectRepeatButtoncoin;// Declare the Coin RepeatButton objectRepeatButtonarm;// Declare the Arm RepeatButton objectvoidsetup() {coin.buttonMode(coinInputPin,INPUT_PULLUP);// Set the Coin input pin modearm.buttonMode(armInputPin,INPUT_PULLUP);// Set the Arm input pin modepinMode(lockedStatusPin,OUTPUT);// Set the Locked state pin modepinMode(unlockedStatusPin,OUTPUT);// Set the Unlocked state pin modecoinOperatedTurnstile.begin(LOCKED);// FSM begins with Initial Transition Id 0}voidloop() {coin.repeatButton();// Executing the Coin repeat button functionarm.repeatButton();// Executing the Arm repeat button functioncoinOperatedTurnstile.execute();// Execute the FSM}boolCoinPredicate(id_tid) {returncoin.isPressed();// Predicate putting a coin.}boolArmPredicate(id_tid) {returnarm.isPressed();// Predicate pushing the arm.}voidLockedProcess(id_tid) {digitalWrite(lockedStatusPin,HIGH);// Turn on the locked position status.digitalWrite(unlockedStatusPin,LOW);// Turn off the unlocked position status.}voidUnlockedProcess(id_tid) {digitalWrite(lockedStatusPin,LOW);// Turn off the locked position status.digitalWrite(unlockedStatusPin,HIGH);// Turn on the unlocked position status.}

Coin Operated Turnstile with Predicate and Event

State Diagram

Schematic Diagram

State-Transition Table Table

State-Transition Declaration

Transitiontransitions[]= {  {inputPredicate,0,1,nullptr,EventOnActionChanged},// State-0 - NextF = 0, NextT = 1  {inputPredicate,1,0,nullptr,EventOnActionChanged}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

enumTurnstileState :id_t {LOCKED,UNLOCKED};Transitiontransitions[]= {  {inputPredicate,LOCKED,UNLOCKED,nullptr,EventOnActionChanged},// State-0 - NextF = 0, NextT = 1  {inputPredicate,UNLOCKED,LOCKED,nullptr,EventOnActionChanged}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

Sketch

#include"FiniteState.h"#include"RepeatButton.h"#definecoinInputPin      A0  // Define the Coin input pin.#definearmInputPin       A1  // Define the Push input pin.#definelockedStatusPin   7   // Define the Locked state output pin.#defineunlockedStatusPin 6   // Define the Unlocked state output pin.boolinputPredicate(id_tid);// Declare Coin Predicate functionvoidEventOnActionChanged(EventArgse);// Event On Action ChangedenumTurnstileState :id_t {LOCKED,UNLOCKED};Transitiontransitions[]= {  {inputPredicate,LOCKED,UNLOCKED,nullptr,EventOnActionChanged},// State-0 - NextF = 0, NextT = 1  {inputPredicate,UNLOCKED,LOCKED,nullptr,EventOnActionChanged}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatecoinOperatedTurnstile(transitions,numberOfTransitions);// Finite-State Objectuint8_tinputPins[numberOfTransitions]= {coinInputPin,armInputPin};// Declare the input pin arrayuint8_toutputPins[numberOfTransitions]= {lockedStatusPin,unlockedStatusPin};// Declare the output pin arrayRepeatButtonturnstileInputs[numberOfTransitions];// Declare the Turnstile Inputs RepeatButton objectvoidsetup() {for (uint8_tindex=0;index<numberOfTransitions;index++) {turnstileInputs[index].buttonMode(inputPins[index],INPUT_PULLUP);// Set the Turnstile repeat button pin modepinMode(outputPins[index],OUTPUT);// Set the Output state pin mode  }coinOperatedTurnstile.begin(LOCKED);// FSM begins with Initial Transition Id 0}voidloop() {for (uint8_tindex=0;index<numberOfTransitions;index++) {turnstileInputs[index].repeatButton();// Executing the Turnstile repeat button function.  }coinOperatedTurnstile.execute();// Execute the FSM.}boolinputPredicate(id_tid) {returnturnstileInputs[id].isPressed();// Predicate putting a coin and pushing the arm.}voidEventOnActionChanged(EventArgse) {switch (e.action) {caseENTRY:digitalWrite(outputPins[e.id],HIGH);// Turn on the turnstile position status.break;caseEXIT:digitalWrite(outputPins[e.id],LOW);// Turn off the previous turnstile position status.break;  }}

Blink

State Diagram

Schematic Diagram

State-Transition Table Table

State-Transition Declaration

Transitiontransitions[]= {  {nullptr,0,1,TurnOffProcess,nullptr,500,TRANS_TIMER},// State-0 - NextF = 0, NextT = 1  {nullptr,1,0,TrunOnProcess,nullptr,1000,TRANS_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

enumLedState :id_t {LED_OFF,LED_ON};Transitiontransitions[]= {  {nullptr,LED_OFF,LED_ON,TurnOffProcess,nullptr,500,TRANS_TIMER},// State-0 - NextF = 0, NextT = 1  {nullptr,LED_ON,LED_OFF,TrunOnProcess,nullptr,1000,TRANS_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

Sketch

#include"FiniteState.h"voidTrunOnProcess(id_tid);// Declare Turn LED On Process functionvoidTurnOffProcess(id_tid);// Declare Turn LED Off Process functionenumLedState :id_t {LED_OFF,LED_ON};Transitiontransitions[]= {  {nullptr,LED_OFF,LED_ON,TurnOffProcess,nullptr,500,TRANS_TIMER},// State-0 - NextF = 0, NextT = 1  {nullptr,LED_ON,LED_OFF,TrunOnProcess,nullptr,1000,TRANS_TIMER}// State-1 - NextF = 1, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStateblinkFS(transitions,numberOfTransitions);// Finite-State Objectvoidsetup() {pinMode(LED_BUILTIN,OUTPUT);// Set the LED_BUILTIN pin modeblinkFS.begin(LED_OFF);// FSM begins with Initial Transition Id 0}voidloop() {blinkFS.execute();// Execute the FSM}voidTrunOnProcess(id_tid) {digitalWrite(LED_BUILTIN,HIGH);// Turn on the LED.}voidTurnOffProcess(id_tid) {digitalWrite(LED_BUILTIN,LOW);// Turn off the LED.}

Debounce

State Diagram

Schematic Diagram

State-Transition Table Table

State-Transition Declaration

#definedebounce 10                                                             // Debounce Delay 10 millisecondsTransitiontransitions[]= {  {ButtonPredicate,0,1,ReleasedProcess},// State-0 - NextF = 0, NextT = 1  {ButtonPredicate,0,2,nullptr,nullptr,debounce,TRUE_TIMER},// State-1 - NextF = 0, NextT = 2  {ButtonPredicate,3,2,PressedProcess},// State-2 - NextF = 3, NextT = 2  {ButtonPredicate,0,2,nullptr,nullptr,debounce,FALSE_TIMER}// State-3 - NextF = 0, NextT = 2};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

enumDebounceState :id_t {RELEASED,DEBOUNCE_T,PRESSED,DEBOUNCE_F};#definedebounce 10                                                             // Debounce Delay 10 millisecondsTransitiontransitions[]= {  {ButtonPredicate,RELEASED,DEBOUNCE_T,ReleasedProcess},// State-0 - NextF = 0, NextT = 1  {ButtonPredicate,RELEASED,PRESSED,nullptr,nullptr,debounce,TRUE_TIMER},// State-1 - NextF = 0, NextT = 2  {ButtonPredicate,DEBOUNCE_F,PRESSED,PressedProcess},// State-2 - NextF = 3, NextT = 2  {ButtonPredicate,RELEASED,PRESSED,nullptr,nullptr,debounce,FALSE_TIMER}// State-3 - NextF = 0, NextT = 2};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

Sketch

#include"FiniteState.h"#definebuttonPin A0  // Define the Button input pin.#defineledPin    7   // Define the LED output pin.boolButtonPredicate(id_tid);// Declare Read Button Predicate functionvoidReleasedProcess(id_tid);// Declare Released Process functionvoidPressedProcess(id_tid);// Declare Pressed Process functionenumDebounceState :id_t {RELEASED,DEBOUNCE_T,PRESSED,DEBOUNCE_F};#definedebounce 10             // Debounce Delay 10 millisecondsTransitiontransitions[]= {  {ButtonPredicate,RELEASED,DEBOUNCE_T,ReleasedProcess},// State-0 - NextF = 0, NextT = 1  {ButtonPredicate,RELEASED,PRESSED,nullptr,nullptr,debounce,TRUE_TIMER},// State-1 - NextF = 0, NextT = 2  {ButtonPredicate,DEBOUNCE_F,PRESSED,PressedProcess},// State-2 - NextF = 3, NextT = 2  {ButtonPredicate,RELEASED,PRESSED,nullptr,nullptr,debounce,FALSE_TIMER}// State-3 - NextF = 0, NextT = 2};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatedebounceFS(transitions,numberOfTransitions);// Finite-State ObjectboolbuttonState;voidsetup() {pinMode(buttonPin,INPUT_PULLUP);// Set the Button input modepinMode(ledPin,OUTPUT);// Set the LED output pin modedebounceFS.begin(RELEASED);// FSM begins with Initial Transition Id 0}voidloop() {debounceFS.execute();// Execute the FSMdigitalWrite(ledPin,buttonState);// Set LED with the button State.}boolButtonPredicate(id_tid) {return !digitalRead(buttonPin);// Read Button value.}voidReleasedProcess(id_tid) {buttonState= false;// Set the Button state with false value.}voidPressedProcess(id_tid) {buttonState= true;// Set the Button state with true value.}

Analog High-Alarm

State Diagram

Schematic Diagram

State-Transition Table Table

State-Transition Declaration

#definealarmDelay 3000         // Define alarm dalayTransitiontransitions[]= {  {AnalogPredicate,0,1,NormalProcess},// State-0 - NextF = 0, NextT = 1  {AnalogPredicate,0,2,PreAlarmProcess,nullptr,alarmDelay,TRUE_TIMER},// State-1 - NextF = 0, NextT = 2  {AnalogPredicate,2,0,HighAlarmProcess}// State-2 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.

enumAnalogState :id_t {NORMAL,PRE_ALARM,HIGH_ALARM};#definealarmDelay 3000                                                                     // Define alarm dalayTransitiontransitions[]= {  {AnalogPredicate,NORMAL,PRE_ALARM,NormalProcess},// State-0 - NextF = 0, NextT = 1  {AnalogPredicate,NORMAL,HIGH_ALARM,PreAlarmProcess,nullptr,alarmDelay,TRUE_TIMER},// State-1 - NextF = 0, NextT = 2  {AnalogPredicate,HIGH_ALARM,NORMAL,HighAlarmProcess}// State-2 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Object

Sketch

#include"FiniteState.h"#defineprocessValuePin A0  // Define the Process value input pin.#definenormalPin       6   // Define the normal status output pin.#definepreAlarmPin     5   // Define the pre-alarm status output pin.#definehighAlarmPin    4   // Define the high-alarm status output pin.enumOperator {LT,// Less than operatorLE,// Less than or equal operatorGT,// Greater than operatorGE// Greater than or equal operator};constlongsetpoint=85;// Alarm Setpointconstlongdeadband=5;// Alarm DeadbandOperatoroperators []= {GE,GE,LT};// Comparison operatorslongsetpoints []= {setpoint,setpoint,setpoint-deadband};// Comparison setpointsconstlongAnalogRead();// Declare Analog Read FunctionvoidProcessAlarmStatus(boolnormal,boolpreAlarm,boolhighAlarm);// Declare Process Alarm Status FunctionlongprocessValue;// Declare processValue variableboolAnalogPredicate(id_tid);// Declare analog predicate FunctionvoidNormalProcess(id_tid);// Declare normal process FunctionvoidPreAlarmProcess(id_tid);// Declare pre-alarm process FunctionvoidHighAlarmProcess(id_tid);// Declare high-alarm process FunctionenumAnalogState :id_t {NORMAL,PRE_ALARM,HIGH_ALARM};#definealarmDelay 3000                                                                     // Define alarm dalayTransitiontransitions[]= {  {AnalogPredicate,NORMAL,PRE_ALARM,NormalProcess},// State-0 - NextF = 0, NextT = 1  {AnalogPredicate,NORMAL,HIGH_ALARM,PreAlarmProcess,nullptr,alarmDelay,TRUE_TIMER},// State-1 - NextF = 0, NextT = 2  {AnalogPredicate,HIGH_ALARM,NORMAL,HighAlarmProcess}// State-2 - NextF = 2, NextT = 0};constuint8_tnumberOfTransitions=sizeof(transitions) /sizeof(Transition);// Calculate the number of transitions.FiniteStatefiniteStateMachine(transitions,numberOfTransitions);// Finite-State Objectvoidsetup() {pinMode(normalPin,OUTPUT);// Set the normal LED pin modepinMode(preAlarmPin,OUTPUT);// Set the pre-alarm LED pin modepinMode(highAlarmPin,OUTPUT);// Set the hith-alarm LED= pin modefiniteStateMachine.begin(NORMAL);// FSM begins with Initial Transition Id 0}voidloop() {finiteStateMachine.execute();// Execute the FSMprocessValue=AnalogRead();// Read processValue}voidNormalProcess(id_tid) {ProcessAlarmStatus(true, false, false);// Update process alarm status}voidPreAlarmProcess(id_tid) {ProcessAlarmStatus(false, true, false);// Update process alarm status}voidHighAlarmProcess(id_tid) {ProcessAlarmStatus(false, true, true);// Update process alarm status}boolAnalogPredicate(id_tid) {boolvalue;switch (operators[id]) {caseGE:value=processValue >=setpoints[id];// Compare process value with setpointbreak;caseLT:value=processValue<setpoints[id];// Compare process value with setpointbreak;default:value= false;break;  }returnvalue;}voidProcessAlarmStatus(boolnormal,boolpreAlarm,boolhighAlarm) {digitalWrite(normalPin,normal);// Update normal statusdigitalWrite(preAlarmPin,preAlarm);// Update pre-alarm statusdigitalWrite(highAlarmPin,highAlarm);// Update high-alarm status}constlongAnalogRead() {longvalue=analogRead(processValuePin);// Read Process Valuereturnmap(value,0,1023,0,100);// Scaling processValue}

References