change moding framework

Propulsive-Landing · Mar 13, 2021 · caf627d · caf627d
1 parent 6391f51
commit caf627d
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Showing 3 changed files with 14 additions and 3 deletions.
diff --git a/main/mission_constants.hh b/main/mission_constants.hh
@@ -27,8 +27,12 @@ const bool eraseFlash=false;
 enum Mode {
     STARTUP_STABLE = 0,
     NAVIGATION = 1,
-    BURN_BABY_BURN = 2,
-    SHUTDOWN_STABLE = 3
+    COUNTDOWN = 2,
+    FINAL_COUNTDOWN = 3,
+    PREP_TVC = 4,
+    BURN_BABY_BURN = 5,
+    TRANSFER_DATA = 6,
+    SHUTDOWN_STABLE =7
 };
 
 // timing

diff --git a/main/moding.hh b/main/moding.hh
@@ -6,11 +6,19 @@
 
 
 bool change_mode_to_navigation(bool);
+bool change_mode_to_countdown(bool);
+bool change_mode_to_final_countdown(bool);
+bool change_mode_to_prep_tvc(bool);
 bool change_mode_to_burn_baby_burn(bool);
+bool change_mode_to_transfer_data(bool);
 bool change_mode_to_shutdown_stable(bool);
 
 void transition_to_navigation();
+void transition_to_countdown();
+void transition_to_final_countdown();
+void transition_to_prep_tvc();
 void transition_to_burn_baby_burn();
+void transition_to_transfer_data();
 void transition_to_shutdown_stable();
 
 #endif  // __MODING_HH__
diff --git a/main/workspace.hh b/main/workspace.hh
@@ -48,7 +48,6 @@ class Workspace
         Mode mode = STARTUP_STABLE;
 
         // Servos
-        Servo servo_top;  // servo in the drop mechanism
         Servo tvc_x;  // servo that actuates TVC around x body axis
         Servo tvc_y;  // servo that actuates TVC around x body axis