/****************************************************************************
 Module
  T_Transporting.c

 Private Definitions
  CurrentState
  desCol
  currCol
  desRow
  currRow
  prevDesRow
  prevDesCol
  reposition
  xcoordinate
  ycoordinate

ES_Event_t RunTransportingSM(ES_Event_t CurrentEvent)-------------------------
// default to normal entry to new state

  // based on our current state:
    // if current state is AlignNS
	// Execute During function for AlignNS 
        // process any events
	  // if we are done rotating
		// if aligned NS, set next state to AlignEW
		// else set next state to DroppingOff
	        // consume eventcase 
	  // if HEADING_WAIT_TIMER times out
		// get current heading
		// calculate desired heading change depending on desired and current column
		// adjust for direction to prevent turning more than 180 degrees
                // Rotate if heading is more than 15 degrees off
                // Otherwise skip the rotating and post rotate done
                	 
    // if current sate is AlignEW
         // Execute During function for AlignEW
         //process any events
           // if we are done rotating
		// mark that we are taking a transition
		// set NextState to DroppingOff
                // consume this event for the upper state machines
           // if HEADING_WAIT_TIMER times out
		// get current heading
		// calculate desired heading change depending on desired and current column
		// adjust for direction to prevent turning more than 180 degrees
                // Rotate if heading is more than 15 degrees off
                // Otherwise skip the rotating and post rotate done

    // if current state is DroppingOff
	 // Execute During function for DroppingOff State. 
         // process any events
	  	// if we entered new tile move to Centering state
		// if we are driving along white for a while, make a 90 degree turn
			// mark that we are taking a transition
			// set next state to GettingBack state

    // if current state is GettingBack
	 // Execute During function for GettingBack State. 
         // process any events
    		// if DROP_OFF_TIMER times out
			// consume this event for the upper state machines
		// if we are done rotating
			// mark that we are taking a transition
			// set next state to DroppingOff state

    // if current state is Centering
	 // Execute During function for Centering State. 
         // process any events
		// if DROP_OFF_TIMER times out
		  // if current column is not desired column
			// mark that we are taking a transition
			// set next state to AlignNS
			// consume this event for the upper state machines
		  // if current column equals desired column and current row does not equal the desired row
			// mark that we are taking a transition
			// set next state to AlignEW
			// consume this event for the upper state machines
		  // if current column and row equals the desired column and row, and reposition is false
			// mark that we are making a transition
			// set next state to LiftingGate
			// consume this event for the upper state machines
		  // if current column and row equals the desired column and row, and reposition is true
			// remap this event for the upper state machines as CENTERING_TO_SEARCHING

    // if current state is LiftingGate
	 // Execute During function for LiftingGate State. 
         // process any events
		// if SERVO_TIMER times out
			// mark that we are making a transition
			// set next state to Reversing
			// consume this event for the upper state machines

   // if current state is LiftingGate
	 // Execute During function for LiftingGate State. 
         // process any events
		// if REVERSE_TIMER times out, do nothing

  // if we are making a state transition
    // Execute exit function for current state
    // Modify state variable
    // Execute entry function for new state


void StartTransportingSM (ES_Event_t CurrentEvent)--------------------------------------
  // set current state to AlignNS
  // call the entry function (if any) for the ENTRY_STATE
  // if reposition is true, set desired position to (2,2) for generic repositioning
  // otherwise, set the desired position to the nearest unoccupied mining region

TransportingState QueryTransportingSM (void)-------------------------------------------
  // return CurrentState variable
   return(CurrentState);

void updateCurrPos(void)---------------------------------------------------------------
  // set currCol and currRow based on querying the values from the color service

void SetReposition(bool cmd)------------------------------------------------------------
  // set reposition to the cmd value passed in

static ES_Event_t DuringAlignNS(ES_Event_t Event)---------------------------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY
    // init HEADING_WAIT_TIMER
  // process ES_EXIT event
    // none
  // process other events
    // none

static ES_Event_t DuringAlignEW(ES_Event_t Event)---------------------------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY 
    // init HEADING_WAIT_TIMER
  // process ES_EXIT event
    // none
  // process other events
    // none

static ES_Event_t DuringDroppingOff(ES_Event_t Event)-----------------------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY 
    // Drive forward
    // if we are already at the desired location, post a NEW_COLOR event
  // process ES_EXIT event
    // init the DROP_OFF_TIMER
  // process other events
    // none

static ES_Event_t DuringCentering(ES_Event_t Event)-------------------------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY 
    // Recalculate current position
    // set desired position to the nearest mining region
  // process ES_EXIT event
    // stop driving
  // process other events
    // none

static ES_Event_t DuringLiftingGate(ES_Event_t Event)-----------------------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY 
    // Move servo
    // Init SERVO_TIMER
  // process ES_EXIT event
    // stop driving
  // process other events
    // none

static ES_Event_t DuringReversing(ES_Event_t Event)-------------------------------------
  // process ES_ENTRY, ES_ENTRY_HISTORY 
    // Drive in reverse
    // Init REVERSE_TIMER
  // process ES_EXIT event
    // stop driving
  // process other events
    // none

static void setDesPosToNearestMiningRegion(void)---------------------------------------
  // calc distances to mining locations that don't  have a miner there already  

  // query regions from spud HSM
  // neutral region 1 stored in bits 0-3 of PUR2
  // neutral region 1 stored in bits 4-7 of PUR2
  // if the team is CKH, company region is stored in bits 0-3 in PUR1 register
  // otherwise GHI, company region 2 stored in bits 4-7

  // set up array for iterating through the three regions 
  // dummy initialization values for nearestRegion and minDist -- should be overwritten during for loop  
  // iterate through locations array to find closest option without a miner already theres  
  // set desired column and row based on results of for loop
  
bool IsTileOccupied(uint8_t tile)------------------------------------------------------
  // get my own location as 0-indexed tile
  // iterate through the four miners
    // grab register contents from SPUD
    // get the Location Good value (bit 7)
    // mask out the 4 MSB (location is stored in bits 0-3)    
    // if miner has valid location and miner and robot are not in same tile, change return true
  // if none of the miners were in the tile, return false