Finite State Machines

At one point, we called this "Control Modes". That name might sound more intuitive.

Definition

A Finite State Machine is a computational pattern where the system is in one of a finite number of possible states at any moment. For a concrete example, consider the following state diagram:

Simple state diagram for a turnstile (Chetvorno, via Wikimedia Commons)

There are two states in this state machine scheme: Locked and Unlocked. There are two events, Push and Coin, that cause the system to enter certain state transitions. Each state has two outward-pointing arrows that each correspond to a particular event: for example, if a user pushes the turnstile when it is locked, it will stay locked, according to the leftmost looping arrow; if a user enters a coin when it is locked, it will transition to the unlocked state, according to the top arching arrow.

Application to Robotics

For ARC Thunder's World Championship robot ("Thor"), we established an elaborate Finite State Machine in order to facilitate driver operations. In the programming documentation of Thor, we included the following state diagram:

State diagram for Thor's TeleOp

Although the events in this state diagram are not shown due to graphical limitations, this diagram demonstrates a clear correlation between the state concept and the operation of a robot during TeleOp. To earn points during the first 90 seconds of TeleOp, Thor performs the following actions repeatedly and in this order:

1. Collect minerals from the playing field;

2. Transfer collected minerals to the delivery sorter;

3. Deliver the sorter to the lander;

4. Score points by dropping minerals into the lander.

The four states found near the center of the state diagram reflect the sequential and repetitive nature of this procedure. In Thor's TeleOp scheme, each state corresponds to a different control scheme for one controller, meaning that moving the same control axis can have different results in different states. This is why we referred to Finite State Machines as Control Modes previously—each state is a control mode, there is a limited set of mode transitions, and each mode defines a different control scheme.

Implementing a Finite State Machine

To represent a Finite State Machine in Java, we need to define all possible states, the logic for transitioning between them (state transitions), the starting state, and what is executed in each state.

State Representation

We can naturally represent a finite number of states using an enum in Java. Each possible value of the enum corresponds to one possible state. For example, ARC Thunder codified all the possible states of Thor into an enum named TeleOpState:

TeleOpState.java

public enum TeleOpState {
  CYCLE_COLLECT, CYCLE_TRANSFER, CYCLE_DELIVER, CYCLE_SCORE, ENDGAME, MANUAL
}

Then, in the main TeleOp OpMode, a field named state is defined and stores the currently active state.

State Transitions and Actions

The most basic approach to the concept of state transitions uses a large switch statement that executes different code segments depending on the current state. Each case of the switch statement corresponds to one possible state, applies the control scheme of that state, and can make changes to the current state depending on certain conditions. This switch statement is executed repeatedly, so it belongs in the loop() method of an iterative OpMode. Consider the following example implementation for the turnstile diagram above:

TurnstileSwitch.java

public abstract class TurnstileSwitch {
  private static enum TurnstileState {
    LOCKED, UNLOCKED
  }

  private TurnstileState state = TurnstileState.LOCKED;

  // Executed repeatedly
  public void loop() {
    switch (state) {
      case LOCKED:
        // Actions in LOCKED
        if (newCoinEntered()) {
          state = TurnstileState.UNLOCKED;
        }
        break;
      case UNLOCKED:
        // Actions in UNLOCKED
        if (newPush()) {
          state = TurnstileState.LOCKED;
        }
    }
  }
  
  abstract boolean newCoinEntered();
  abstract boolean newPush();
}

In each iteration of loop(), the switch statement executes different branches depending on the current state. If the state is LOCKED and newCoinEntered() returns true, it changes the current state to UNLOCKED; if the state is UNLOCKED and newPush() returns true, it changes the current state to LOCKED.