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 (e.g., simultaneous accelerator and brake activation).

LYNX Mode Descriptions

Modes represent the operational states of the LYNX 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 variable in the root directory and is broadcast periodically over CAN in the 0x600 - LYNX status message.