State Machine Framework

The state-machine-framework is a library designed to make autonomous design easier. Although this library is designed for use with the FTC libraries, it can be easily used in other projects.

Features:

• It is easy to add new functionality.
• It supports a very flexible design, allowing for multiple paths and multiple end conditions for each state.
• States can be assembled using an included builder class for added convenience.
• Extremely quick autonomous development and debugging.

We use the state machine framework because it allows us to make so many changes on the fly.

Examples

Creating a new state machine using the builder:

// First, create a list of states
public enum s implements StateName {
  BobState, JohnState, JennyState, Stop
};

// Create a new builder, giving it the name of the first state
StateMachineBuilder b = new StateMachineBuilder(s.BobState);

// Initialize all of the states
b.add(s.BobState, States.bobState(), s.JohnState);
b.add(s.JohnState, States.JohnState(), s.JennyState);
b.add(s.JennyState, States.JennyState, s.Stop);
b.addStop(s.Stop);

// Build the state machine
StateMachine stateMachine = b.build();

Using a StateMachine in a project is extremely simple. Just add this line to the loop method:

stateMachine.act();

Usage

Using the state machine framework in the your project is extremely simple!

• Add the latest jar file (found in build/ folder) to the FTCRobotController/libs/ folder.
• Add the file to the gradle build dependencies (inside FTCRobotController/build.gradle in the 'dependencies' section):

compile files('libs/state-machine-framework-<latest version>')

• Rebuild the gradle project.

Contact

Email team members of the project with any questions or comments! Please email nikita.wootten@gmail.com or submit issues to the issue tracker. You can also reach out to us on twitter at @electronVoltFTC.

We are constantly adding features from our project, so expect frequent updates!