51 lines
1.4 KiB
Plaintext
51 lines
1.4 KiB
Plaintext
@startuml
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' skinparam linetype ortho
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' skinparam nodesep 100
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skinparam ranksep 80
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skinparam state {
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BackgroundColor LightBlue
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}
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[*] --> Initialization
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state Initialization
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Initialization : Entry / Stop motor
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Initialization : Entry / Initialize internal parameters
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Initialization : Entry / Reset speed measurement
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Initialization : Do / Wait 2 seconds
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Initialization : Exit / Send Boot-up message
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state PreOperational
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PreOperational : Entry / Stop motor
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PreOperational : Do / Blink LED at 1 Hz
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PreOperational : Do / Accept Kp and Ti configuration
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PreOperational : Do / Select P or PI controller [c]
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PreOperational : Exit / LED off
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state Operational
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Operational : Entry / LED on
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Operational : Do / Run speed controller
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Operational : Exit / Stop motor and LED off
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state Stopped
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Stopped : Entry / Stop motor
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Stopped : Do / Blink LED at 2 Hz
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Stopped : Exit / LED off
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Initialization -r-> PreOperational : initialization\n complete
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' Initialization -d-> Operational : initialization\n complete
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PreOperational -d-> Operational : set operational [o]
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PreOperational -l--> Initialization : reset [r]
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Operational -u-> PreOperational : set pre-operational [p]
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Operational -> Initialization : reset [r]
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Operational --> Stopped : fault detected
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Stopped -l-> Initialization : reset [r]
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Stopped -> Operational : set operational [o]
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Stopped -u-> PreOperational : set pre-operational [p]
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@enduml
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