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Program_Flow_State_Machine.md

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Program Flow and State Machine Architecture

This document meticulously traces the chronological structure spanning the initialization, evaluation, and physical execution routines inherent to the BaseLink.ino firmware.

Process Initialization & Calibration Flow

Upon triggering the ESP32 microcontroller's setup() environment, sequential validation routines operate linearly to bootstrap isolated complex hardware peripherals.

sequenceDiagram
    participant OS as ESP32 Core
    participant IMU as ISM6HG256X (I2C)
    participant STEP as TMC2208 Steppers
    participant NET as ESP-NOW & BT

    OS->>IMU: Configure High-Performance Registers (400kHz)
    IMU-->>OS: Confirm IDs and Validate Full Scales
    OS->>STEP: Map UART Pins / Setup 20kHz Alarm Timer
    OS->>OS: delay(STARTUP_SETTLE_MS) enforces thermal settling
    OS->>IMU: calibrateGyro() executing 500 static readings
    OS->>NET: Initiate ESP-NOW and SPP Bluetooth Stacks
    OS->>OS: Assert STATE_IDLE configuration
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The State Machine (Finite Automaton)

The central operational methodology explicitly prevents erroneous code from activating powerful steppers without specific conditions being flawlessly met.

stateDiagram-v2
    [*] --> STATE_INIT : Hardware Boot
    
    STATE_INIT --> STATE_IDLE : Boot Success
    
    STATE_IDLE --> STATE_BALANCING : Drive Enabled ('E') + Robot is Level (< 5°)
    
    STATE_BALANCING --> STATE_IDLE : Drive Disabled ('X')
    
    STATE_BALANCING --> STATE_FALLEN : Fatal Angle Exceeded (> MAX_TILT_ANGLE)
    
    STATE_FALLEN --> STATE_IDLE : Disabled
    STATE_FALLEN --> STATE_BALANCING : Robot explicitly placed Level (< MAX_TILT_ANGLE) + 'E' Reasserted
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1. STATE_INIT

  • Confirms logic availability exclusively. Motors are logically and physically disconnected.
  • Calibrates gyroscopic zeroes assuming flawless rigid stillness.

2. STATE_IDLE

  • Dispatches identical diagnostic flashes utilizing the ONBOARD_LED representing logical wait status.
  • Evaluates positional drift inputs and strictly forces internal compensators identically towards theoretical geometric zero offsets.

3. STATE_BALANCING

  • Executes the entirety of the rigid LOOP_FREQ_HZ (200 Hz) mathematical hierarchy.
  • Scales visual LED pulse delays proportionally mapping mathematical failure proximities (flashing quicker when structural strain escalates).
  • Identifies independent external trajectory requests mapped perfectly against local acceleration physics generating kinetic torque.

4. STATE_FALLEN

  • Safety override triggered actively upon exceeding structurally irrecoverable deviation angles (e.g., $95.0^{\circ}$).
  • Slashes identical acceleration limits instantly resolving physical logic gates mapping the Motor EN pins directly HIGH.
  • Completely locks identical evaluation until specific human interference physically centers the chassis directly perpendicular relative to local gravity, simultaneously resubmitting explicit 'Enable' commands natively via wireless diagnostics.