/****************************************************************************

LineFollowing header file for Hierarchical Sate Machines AKA StateCharts

02/08/12 adjsutments for use with the Events and Services Framework Gen2
3/17/09 Fixed prototpyes to use Event_t

****************************************************************************/

#ifndef LineFollowing_SM_H
#define LineFollowing_SM_H

// typedefs for the states

// State definitions for use with the query function
typedef enum { DRIVING_FORWARD, PID_CONTROL, SQUARE_UP} LineFollowingState_t
;

// Public Function Prototypes

ES_Event_t RunLineFollowingSM( ES_Event_t CurrentEvent );

void StartLineFollowingSM ( ES_Event_t CurrentEvent );
LineFollowingState_t QueryLineFollowingSM ( void );
bool Check4Wire(void);
bool IsOnWire(void);

#endif /*LineFollowing_SM_H */