/****************************************************************************
 Template header file for Hierarchical Sate Machines AKA StateCharts
*/

#ifndef TopHSM_H
#define TopHSM_H

#include "ES_Types.h"


// Parameters For Tape Sensors Software Hysteresis
#define redMin  160//500mV
#define redMax  256//1000mV

#define blackMin  700// 4V
#define blackMax  1024//5

//Control Constants

#define Kp 4
#define Ki 0.3

//Motor Speed and Distance
#define TURN_NINETY_TICKS 74
#define FULL_SPEED_RPM 27 
#define JOUST_RPM 20 
#define HALF_SPEED_RPM 10
#define DEFINITE_DISTANCE_RPM 8
#define SHORT_TICKS 23
#define LONG_TICKS 125

#define fieldDistanceTicks 800

//Shooter Motor Control Speed
#define ShooterPeriod 60




// State definitions for use with the query function
typedef enum {TestingStage, Waiting, Stage1, Stage2, Stage3, Recess1, Recess2, Recess3, SuddenDeath, EndOfMatch} MasterState_t ;

// Public Function Prototypes

ES_Event RunMasterSM( ES_Event CurrentEvent );
void StartMasterSM ( ES_Event CurrentEvent );
bool PostMasterSM( ES_Event ThisEvent );
bool InitMasterSM ( uint8_t Priority );
MasterState_t QueryMasterHSM ( void );
bool DarkNightPlayer( void );

#endif /*TopHSM_H */