Change From One State Machine To Another

Question

I have a project where I need to state from leds turning on and off to another one that will have all the leds turned on and send data and I was wondering how should I do that, this the code I have:

#include <CapacitiveSensor.h>

CapacitiveSensor cs_11_10 = CapacitiveSensor(11,10);

int state_s1 = 0;
int state_s2 = 0;
int state_s3 = 0;
int state_s4 = 0;
int state_prev_s1 =0;
int pin_s1 = 12;
int val_s1 = 0;

const unsigned int ledPins[]={2,3,4,5,6,7,8,9};
const unsigned int lenledPins=9; 

unsigned long t_s1 = 0;
unsigned long t_0_s1 = 0;
unsigned long t_s3 = 0;
unsigned long t_0_s3 = 0;
unsigned long t_0_s4 = 0;
unsigned long t_s4 = 0;
unsigned long t_s2_4 = 0;
unsigned long tiempo = 250;

unsigned long bounce_delay_s1 = 5;

long total = 0;

void setup() 
{
  pinMode(pin_s1, INPUT_PULLUP);
  Serial.begin(9600);

  for(int i=0; i<(9); i++)
  {
    pinMode(ledPins[i], OUTPUT);  
  }

  cs_11_10.set_CS_AutocaL_Millis(0xFFFFFFFF);
  Serial.begin(9600);

}

void loop()
{


  MBoton();          //MAQUINA DE ESTADO

 MaquinaGeneral();

  if(state_s2 == 1)
  {
    led(); 
  }

  if(state_s1 != state_prev_s1)
  {
    Serial.print("state =");
    Serial.println(state_s3);
  }

  if(state_s4 == 6)
  {
    for(int i=0; i<lenledPins; i++)
    {
      digitalWrite(ledPins[i],HIGH); 
    }
  }

  Serial.print("");

}

void MaquinaGeneral()
{
  switch(state_s2)
  {
    case 0:
    if(state_s1 == 4)
    { 
      state_s2 = 1;
    } 
    break;

    case 1:

    break;
  }
}  


void MBoton()
{
  state_prev_s1 = state_s1;
  switch(state_s1)
  {
    case 0:         //RESET
    state_s1 = 1;
    break;

    case 1:        //START
    val_s1 = digitalRead(pin_s1);
    if(val_s1 == LOW)
     {
      state_s1 = 2;
     }
    break;

    case 2:         // GO!
    t_0_s1 = millis();
    state_s1 = 3;
    break;

    case 3:         //WAIT
    t_s1 = millis();
    if(t_s1 - t_0_s1 >= bounce_delay_s1)
    {
      state_s1 = 5;
    }
    break;

    case 5:         //ARMED
    val_s1 = digitalRead(pin_s1);
    if(val_s1 == HIGH)
     {
      state_s1 = 4;
     }
    break;

    case 4:       //TRIGGERED
    state_s1 = 0;
    break;


  }
}

void led()
{

  switch(state_s3)
  {      
    case 0:         //OFF
    for(int i=0; i<lenledPins; i=i+2)
    {
      digitalWrite(ledPins[i],LOW);
    }
    for(int i=1; i<lenledPins; i=i+2)
    {
      digitalWrite(ledPins[i],HIGH);
    } 

    t_0_s3 = millis();
    state_s3 = 1;
    break;

    case 1:         //WAIT
    t_s3 = millis();
    if(t_s3 - t_0_s3 >= tiempo)
    {
      state_s3 = 2;
    }
    break;

    case 2:         // ON
     for(int i=0; i<lenledPins; i=i+2)
    {
      digitalWrite(ledPins[i],HIGH);
    }

     for(int i=1; i<lenledPins; i=i+2)
    {
      digitalWrite(ledPins[i],LOW);
    }

    t_0_s3 = millis();
    state_s3 = 3;
    break;

    case 3:         //WAIT   
    t_s3 = millis();
    if(t_s3 - t_0_s3 >= tiempo)  
    {
     state_s3 = 0;
    }
    break;


  }


  }

void Capacitor()
 {

  switch(state_s4)
  {

    case 0:         //RESET
    state_s4 = 1;
    break;

    case 1:        //START
    total = cs_11_10.capacitiveSensor(10);
    if(total >= 1000)
     {
      state_s4 = 2;
     }
    break;

    case 2:         // GO!
    t_0_s4 = millis();
    state_s4 = 3;
    break;

    case 3:         //WAIT
    total = cs_11_10.capacitiveSensor(10);
    if(total < 1000)
     {
      state_s4 = 0;
     }

    t_s4 = millis();

    if(t_s4 - t_0_s4 >= 2000)
    {
      state_s4 = 5;
    }

    break;

    case 5:         //ARMED & WAIT
    t_s2_4 = millis();
    total = cs_11_10.capacitiveSensor(10);
    if(total < 1000)
     {
      state_s4 = 4;
     }

     if(t_s2_4-t_s4 >= 1000)
     {  
      state_s4= 6;
     }
    break;

    case 4:       //TRIGGERED
    state_s4 = 0;
    break;


    case 6:     // ARMED 2  
    Serial.println("Entro al estado 6");
    total = cs_11_10.capacitiveSensor(10);
    break;

}
}

Answer 1

If you think you need two finite state machines, where only one of them is running at any given time, then it is trivial to combine them together: draw them side by side, and add the required transitions between them. The set of states of the combined FSM will be the union of the states of the initial FSMs. For example, if you have:

• FSM 1 states: STATE_A, STATE_B, STATE_C
• FSM 2 stages: STATE_D, STATE_E
• global states: FSM_1_RUNNING, FSM_2_RUNNING

Then the combined FSM will have the states STATE_A, STATE_B, STATE_C, STATE_D and STATE_E, and all the transitions of both initial FSMs.