Create a basic FSM prototype. #20
Description
The goal of this deliverable is to create an FSM prototype with pseudocode logic. We will use this FSM to guide us in the creation of our Simulink and C implementations.
Here are the basic requirements for the 3 states:
Active State: this will be the main state of the system which will activate the assistive qualities of the suit. The condition for this state will be any expected action reading from our sensors and motors.
In this state communication to the motors will be activated (cut off in idle state) to allow the exoskeleton to operate as intended.
Idle State: the system will go into idle state when the user is not performing any actions. The idea is that if the sensors read a value within a certain threshold for x amount of time, it will switch to idle.
Within this state we want to cut off any unused modules to save power, this could be motor readings, actuation, sensor readings, controls, etc.
Error State: the system will go to this state when unexpected values from hardware/software are detected (angles of rotation are over the expected range, unexpected motor actuation, unexpected function calls, etc.)
Within this state the error detected will be handled appropriately, it is up to us to determine what these errors will be and how they'll get handled. Our method should resolve the issues quickly to ensure our system continues to operate as intended and avoids power consumption from errors.
For this deliverable the following is expected:
- Pseudo code for what each state does
- Transition conditions for each state (Determining potential errors, & thresholds for idle state)
- Validation the effectiveness of this model (is this the right approach? do we need any other design considerations?).
- Documented justifications, research, and design considerations for the previous bullet points.
Good Luck!!