Ship Master

Initialize:
	Setup internal Clock to 8MHz
	Setup EUSART with 9600 baud rate
	Setup PWM
	Setup SPI
	Enable Interrupts
	RETURN

InitializeGameState:
	Set up Ping status as waiting for iButton
	Clear received flag and data index
	Set up COM_frameid and COM_options
	Set State Machine status as Waiting
	RETURN

Main:
	Initialize
	InitializeGameState
Wait for iButton
	Setup ping data as waiting for pairing
	Wait for Synch
	Set Team Flag
Play_Game:
	If Status is Waiting (Hard Reset), Goto Main
	Check if we have received an API packet
	REPEAT Play_Game

CheckTimer0Flag:
	If Timer0 overflow flag is not set, RETURN
	ELSE, 
Clear overflow flag and transmit data
		Decrement 3 second Timeout timer. If timer is zero, shut off actuators
	RETURN

APIRx:
	Check whether an API packet is received
	If not, RETURN
	ELSE,
Clear received flag,
If it’s navigation command, GOTO API_Navigation
		ELSE If it’s admiral command, GOTO API_Admiral
ELSE RETURN

API_Navigation:
;   We've received a navigation command from the helm.  Interpret the data
;   to water speed, speed, and direction, then apply those parameters
	Check if it is from our helm and RETURN if not.
	Reset 3 second TimeOutTimer
	Set Team flag
	Read Direction data
	Read Speed data
Read Water Speed data
	All the parameters are copied over, send them to slaves in SetParameters function
	RETURN

SetParameters:
	Send Rudder direction information to slaves
	If direction is close to going straight (6 – 10), use only rudder to control direction
If not, use differential motor speed by adding and subtracting direction angle from each motor speed
	Send Motor speed information to slaves
	Activate the pump according to Water speed information received
	RETURN

SendDirectionInfo:
Mark data as direction
Mark as slave left
Pull slave select low
	CALL	SPI_Transmit
	Pull slave select high
	RETURN

SendFlag:
	Save team in transmit data
Mark as flag info
Mark as slave right
Pull slave select low
	CALL	SPI_Transmit
	Pull slave select high
RETURN

SendWhiteFlag:
	Save white flag in transmit data
Mark as flag info
Mark as slave right
Pull slave select low
	CALL	SPI_Transmit
	Pull slave select high
RETURN


SendMotorInfo:
	Save Left motor speed in transmit data
Mark as speed
Mark as slave left
Pull slave select low
	CALL	SPI_Transmit
	Pull slave select high
	Save Right motor speed in transmit data
Mark as speed
Mark as slave left
Pull slave select low
	CALL	SPI_Transmit
	Pull slave select high
RETURN

API_Admiral:
	If the message is from the admiral's address,
Check if it is Ping. If yes, GOTO AdmPing
		Check if it is Stand Down. If yes, GOTO AdmStanddown
Check if it is Hard Reset. If yes, GOTO AdmHardreset
Check if it is Soft Reset. If yes, GOTO AdmSoftreset
RETURN

AdmPing:
Respond to admiral's ping by sending back the ping data correctly
	Set Address To Admiral
Send ping data
	RETURN
	
;  Respond to standdown by shutting off everything, sending ack to admiral,
;  passing it on to helm, and then block until helm acknowledges
AdmStanddown:
	Shut off everythng
	Send ack to admiral
	Indicate Stand Down Flag
	Pass it on to helm by Set Address To Helm and sending stand down command
	Block until helm acknowledges
	If helm ack is received, RETURN

SendAckToAdmiral:
	Set Address To Admiral
 	Send Ack 
	RETURN

AdmSoftreset:
Respond to soft reset by shutting off everything 
Acknowledge to admiral
	RETURN

ShutOffActuation:
	Send direction straight and speed 0 and water strength 0 to slave
	RETURN
	
AdmHardreset:
	Shut off all actuators
	Set State machine status as waiting (for iButton)
	RETURN




SPI_Transmit:
Wait until data been received (transmit complete)
Set W reg = contents of SSPBUF
	Save the received data in user RAM
	Set W reg = contents of TXDATA
	Move it to SSPBUF to xmit
	RETURN

Interrupt:
	PUSH
		Copy W to TEMP register
Swap status to be saved into W
Save status to STATUS_TEMP register
ISR
	If we received anything through EUSART, CALL	EUSART_Rx_Int
	If Timer0 overflow flag is set, CALL	Timer0_Int
	POP
		Swap nibbles in STATUS_TEMP register and place result into W
		Move W into STATUS register
		Swap nibbles in W_TEMP and place result in W_TEMP
		Swap nibbles in W_TEMP and place result into W	
	RETFIE

EUSART_Rx_Int:
	Clear flag first
	Read data into appropriate index of receiving buffer
	Increment the index of the data
	Check whether the first 4 bytes of the received API packets are 0x7E, 0x00, 0x08 and 0x81 for error checking.
	If they don’t match, clear data index and received flag.
If not all the packet is received yet, RETURN
	ELSE, API frame is done. Set the receive DONE flag and clear data index.

Timer0_Int:
	Clear interrupt flag
	If 10 overflow has occurred reset the counter and set a flag
	RETURN

Waiting_for_Sync:
Wait until we receive data
If we've received an API packet,
If it is iButton reading broadcasted,
Store the address of helm
Setup ping data to respond 
Send matched command to the helm
Save Team – if odd, Red team, even then Blue team
			Clear Waiting status for state machine
			RETURN
		ELSE If it is ping command, CALL AdmPing
	GOTO Waiting_for_Sync

 
Ship Slave

Initialize:
	Setup Clock to 8MHz
	Setup Timer0
	Setup Hbridge control lines
	Setup SPI
	Setup Servo
	Enable Interrupts
	RETURN

Main:
	Initialize
	Initialize starting values to neutral motor/rudder
REPEAT
This is the main loop, just do nothing. 
All responses are handled in SPI interrupt
	FOREVER

Interrupt:
	PUSH
		Copy W to TEMP register
Swap status to be saved into W
Save status to STATUS_TEMP register
ISR
	If we received anything through SPI, CALL	SPI_Int
	If Timer0 overflow flag is set, CALL	Timer0_Int
POP
		Swap nibbles in STATUS_TEMP register and place result into W
		Move W into STATUS register
		Swap nibbles in W_TEMP and place result in W_TEMP
		Swap nibbles in W_TEMP and place result into W	
	RETFIE

SPI_Int:
;   ISR that receives/transmits from SPI, but primary purpose is to receive
WREG reg = contents of SSPBUF
	Save the received data in user RAM
	W reg = contents of TXDATA
	Process the command
	If the command is for this PIC,
		If the command is for direction, set Servo pulse width according to the direction info.
		If the command is for speed, set motor speed according to the received data and forward/backward direction		
	RETURN

Timer0_Int:
	Clear overflow flag
	Decrement servo counter
	If the servo counter is zero, set servo pin high and reset servo counter
	ELSE if the servo counter is equal to the servo pulse width, set the pin high
	RETURN