Create an Arduino program that uses enum to create 6 states and does the followi

Question

Create an Arduino program that uses enum to create 6 states and does the following in the states respectively:

•    State 1 – “Running Forward”. Starts a DC motor moving forward (this action should not stop until another State stops it). Trigger State 2.

•    State 2 – “Wait for Sensor”. Waiting for either your IR or Ultrasonic sensor to register an object within 10 centimeters. When sensor detects object Trigger State 3.

• State 3 – “Stopping Motor”. Stop the DC motor. Trigger State 4.

• State 4 – “Time Delay 1”. Cause a time delay. Trigger State 5.

•    State 5 – “Back Away”. Turns the DC motor backwards for 5 second. Motors may run at unequal speeds to cause a reverse turn if desired. Trigger State 6.

• State 6- “Time Delay 2”. Cause a time delay. Trigger State 1.

The program should run through the States as defined in a repeating loop.

Explanation / Answer

enum states
{
    State_1,
    State_2,
    State_3,
    State_4,
    State_5,
    State_6,
};
//
enum states motor_state; // this is the state variable used to control the motor state transition
//

// Funtion runs the DC motor continuously forward
void runForward()
{
    printf("Running Forward "); // dummy line, replace with actual code
    // to be implemented
}
//

// Function reads a sensor and loop in a while loop till an object has been detected with 10cms
int waitForSensor()
{
    //
    int sensorObjectDetected = 0;
    //
    // loop continuously till an object has been detected
    while(!sensorObjectDetected)
    {
        // read sensor data and compare for detection
        break;
    }
    //
    return 0;
}
//
// function drives dc motor in reverse motion
void reverseMotor()
{
    // to be implemented,
}
//
// function stops a dc motor
void stopMotor()
{
    // to be implemented

}

void setup() {
// put your setup code here, to run once:
motor_state = State_1; // intialise the motor in State_1
}

void loop() {
// put your main code here, to run repeatedly:
switch(motor_state)
        {
            // motor_state = 0 => state 1
            case State_1:
                //
                runForward(); // run the DC forward in state 1
                //
                motor_state = State_2; // trigger state 2
                //
                break;
                //
                // motor_state = 1 => state 2
            case State_2:
                //
                waitForSensor(); // wait till the sensor detects an object and returns
                //
                motor_state = State_3; // trigger state 3
                //
                break;
                //
            case State_3:
                //
                stopMotor(); // stop the motor
                //
                motor_state = State_4; // trigger state 4
                //
                break;
                //
            case State_4:
                //
                delay(1000); // 1s delay
                //
                motor_state = State_5; // trigger state 5
                //
                break;
                //
            case State_5:
                //
                reverseMotor();
                //
                delay(5000); // reverse the motor for 5s
                //
                motor_state = State_6;
                //
                break;
                //
            case State_6:
                //
                delay(2000); // delay of 2s
                //
                motor_state = State_1;
                //
                break;
        }

}

// NOTE : Motor functions to be implemented by student

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