Module
   T_Collision.c

 Description
   This is a HSM module for the collision service of our robot

 Notes

 Private definitions
 ENTRY_STATE 
 Left  
 Right 
 FORWARD 
 North 
 East 
 South 
 West 
 CollisionReverse 
 CollisionRotate 
 CollisionDrive 
 REVERSE 
 FORWARD 


/*---------------------------- Module Functions ---------------------------*/
/* prototypes for private functions for this service.They should be functions
   relevant to the behavior of this service
*/


ES_Event_t RunCollision(ES_Event_t CurrentEvent)
	//Set make transition to false
	//Set next state to current state
	//Create return event
	
	//If case reversing
		//Set return event to during reversing
		//If current event is a timeout
			//If event parameter is collision timer
				//Set next state to rotating
				//Set make transition to true
				//Consume event 
	//else if case rotating
		//Set return event to during rotating
		//If event is a timeout
			//If event parameter is collision timer
				//Set next state to driving
				//Set make transition to true
				//Consume event 
	//else if case driving
		//Set return event to during driving
		//If event is a timeout
			//if event parameter is collision timer
				//Do nothing
			//Return timeout event
	//If make transition is true
		//Create exit event
		//Run collision on exit event
		//Set next state
		//Run entry event on collision
		
void StartCollision (ES_Event_t CurrentEvent)
	//Set current state to entry state
	//Calculate rotate direction and set it
	//Rotate
	//Run collision
			
static ES_Event_t DuringReversing(ES_Event_t Event)
	//If event is an entry or entry history event
		//Drive
		//Init collision timer
	//Else if exit event
		//Stop

static ES_Event_t DuringRotating(ES_Event_t Event)
	//If event is an entry or entry history event
		//Rotate in rotation direction
		//Init collision timer
	//Else if exit event
		//Stop	
		
static ES_Event_t DuringDriving(ES_Event_t Event)
	//If event is an entry or entry history event
		//Drive
		//Init collision timer
	//Else if exit event
		//Stop

static uint8_t CalcRotateDirection (uint8_t x, uint8_t y, uint16_t heading)
	//If heading is west
		//if x is zero
			//return right
		//else if x is 3
			//return left
	//else if heading is east
		//if x is zero
			//return left
		//else if x is 3
			//return right
	//else if heading is north
		//if y is zero
			//return left
		//else if y is 3
			//return right
	//else if heading is south
		//if y is zero
			//return right
		//else if y is 3
			//return left
	//return left