M1DemoMachine works! Set STATE_MACHINE_NAME to M1DemoMachine andset NO_ROBOT to OFF.

Author: ywen3

src/apps/M1DemoMachine/M1DemoMachine.cpp

@@ -10,15 +10,13 @@ M1DemoMachine::M1DemoMachine() {
     idleState = new IdleState(this, robot);
     calibrationState = new Calibration( this, robot);
     monitorState = new Monitoring(this, robot);
-    positionTracking = new M1PositionTracking(this, robot);
     demoState = new M1DemoState(this, robot);
 
     // Create PRE-DESIGNED State Machine events objects.
     event2Demo = new Event2Demo(this);
     event2Monitor = new Event2Monitor(this);
     event2Cali = new Event2Cali(this);
     event2Idle = new Event2Idle(this);
-    event2Pos = new Event2Pos(this);
 
     /**
      * \brief add a tranisition object to the arch list of the first state in the NewTransition MACRO.
@@ -32,8 +30,8 @@ M1DemoMachine::M1DemoMachine() {
     NewTransition(idleState, event2Cali, calibrationState);
     NewTransition(calibrationState, event2Idle, idleState);
 
-    NewTransition(idleState, event2Pos, positionTracking);
-    NewTransition(positionTracking, event2Idle, idleState);
+    NewTransition(idleState, event2Demo, demoState);
+    NewTransition(demoState, event2Idle, idleState);
 
     //Initialize the state machine with first state of the designed state machine, using baseclass function.
     StateMachine::initialize(idleState);
@@ -43,7 +41,6 @@ M1DemoMachine::~M1DemoMachine() {
     delete demoState;
     delete idleState;
     delete monitorState;
-    delete positionTracking;
     delete calibrationState;
     delete robot;
 }
@@ -115,8 +112,8 @@ void M1DemoMachine::hwStateUpdate(void) {
 // Events ------------------------------------------------------
 ///////////////////////////////////////////////////////////////
 bool M1DemoMachine::Event2Demo::check(void) {
-    if (OWNER->robot->keyboard->getS() == true) {
-        std::cout << "Pressed S!" << std::endl;
+    if (OWNER->robot->keyboard->getA() == true) {
+        std::cout << "Pressed A!" << std::endl;
         return true;
     }
     return false;
@@ -144,17 +141,6 @@ bool M1DemoMachine::Event2Idle::check(void) {
     return false;
 }
 
-////////////////////////////////////////////////////////////////
-// Events ------------------------------------------------------
-///////////////////////////////////////////////////////////////
-bool M1DemoMachine::Event2Pos::check(void) {
-    if (OWNER->robot->keyboard->getA() == true) {
-//        std::cout << "Pressed A!" << std::endl;
-        return true;
-    }
-    return false;
-}
-
 ////////////////////////////////////////////////////////////////
 // Events ------------------------------------------------------
 ///////////////////////////////////////////////////////////////

src/apps/M1DemoMachine/M1DemoMachine.h

@@ -57,7 +57,6 @@ class M1DemoMachine : public StateMachine {
 
     Monitoring *monitorState;
     Calibration *calibrationState;
-    M1PositionTracking *positionTracking;
 
     // for logger
     std::chrono::steady_clock::time_point time0; // initial time that machine started
@@ -70,7 +69,6 @@ class M1DemoMachine : public StateMachine {
     EventObject(Event2Demo) * event2Demo;
     EventObject(Event2Monitor) * event2Monitor;
     EventObject(Event2Idle) * event2Idle;
-    EventObject(Event2Pos) * event2Pos;
     EventObject(Event2Cali) * event2Cali;
 
     LogHelper logHelper_;