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Amiga Control States

Amiga control states​

State transition flowchart​

flowchart TB; subgraph Start_Up Boot-- Warm up -->Manual_Ready end subgraph Active___states__ direction LR Manual_Active <-- O / CRUISE --> Cruise_Control subgraph Auto direction TB Auto_Ready <-- AmigaRpdo1 --> Auto_Active end Manual_Active-- Auto mode tab -->Auto Manual_Active <-. X / BRAKE .- Auto Manual_Active <-. X / BRAKE .- Cruise_Control end Manual_Ready -- Start / Vamos --> Manual_Active Active___states__ -- E-stop condition --> E-stopped Start_Up -- E-stop condition --> E-stopped Manual_Ready <-. Clear E-stop condition .- E-stopped

State descriptions​

  • Boot
    • Amiga is starting up
  • Manual Ready
    • Amiga is ready to use!
  • Manual Active
    • Manual driving with the pendant. Amiga does not hold fwd/rev or turning speed
  • Cruise Control
    • Pendant adjusts fwd/rev speed. Amiga holds fwd/rev speed
    • Perturb pendant left/right for turning. Amiga does not hold turning speed
  • Auto Ready
    • Amiga is ready for auto control to take over
    • Pendant only has button interactions
  • Auto Active
    • Amiga is actively being driven by auto mode
    • Pendant only has button interactions
  • E-stopped
    • An E-stop condition has been triggered by
      • Physical press of the large E-stop button
      • Loss of communication with a critical component (pendant, motor controllers, etc.)
      • Over / under charged batteries
      • Motor temperature or current spike
      • Etc.
    • E-stop condition must be cleared before transition to Manual Ready state

Transition descriptions​

  • Warm up
    • Amiga components go through start up procedures
    • Dashboard waits for all components to signal they are ready
    • Transitions
      • Boot -> Manual Ready
  • Start / Vamos
    • The [Start / Vamos] button on the dashboard touchscreen is pressed
    • Transitions
      • Manual Ready -> Manual Active
  • O / CRUISE
    • The O / CRUISE pendant button is pressed
      • The top left button either has a circle or the word CRUISE, depending on your pendant version
    • Transitions
      • Manual Active <--> Cruise Control
  • X / BRAKE
    • The X / BRAKE pendant button is pressed
      • The bottom left button either has an X or the word BRAKE, depending on your pendant version
    • Amiga speed is brought to a stop
    • Transitions
      • Cruise Control -> Manual Active
      • Auto Ready -> Manual Active
      • Auto Active -> Manual Active
  • Auto mode tab
    • Navigate to the auto mode tab on the dashboard
    • Press the [AUTO CONTROL] button
    • The AUTO READY state will illuminate, if state transition is permitted
  • AmigaRpdo1
    • Transition between Auto ready and auto active state (both directions) is requested over CAN with an AmigaRpdo1 message
    • The AUTO READY or AUTO ACTIVE state will illuminate, corresponding to the state the Amiga is in
    • Transitions
      • Auto Ready <--> Auto Active
  • E-stop condition
    • E-stopped mode is automatically triggered by a qualifying issue (see above)
    • Transitions
      • Manual Ready -> E-stopped
      • Manual Active -> E-stopped
      • Cruise Control -> E-stopped
      • Auto Ready -> E-stopped
      • Auto Active -> E-stopped
  • Clear E-stop condition
    • E-stopped mode is automatically cleared by resolving the issue that triggered it
    • Transitions
      • E-stopped -> Manual Ready