State Machine

The system always operates within one of the defined states, also known as modes, represented internally as numerical values. The state machine implements priority-based ordering — lower numbers indicate higher priority. This ensures deterministic behavior in all situations.

Mode Descriptions

Modes represent the operational states of the FALCON application, determined by the state machine. These modes aid in debugging by indicating the controller's current status.

The mode value is accessible via the /mode state variable and is broadcast periodically over CAN in the 0x600 - FALCON status message.