Malefix/xyz.malefic.frc.state/StateMachine

StateMachine

class StateMachine<S>(initialState: S)

Generic state machine for subsystems.

Manages state transitions with history tracking and validation.

Example:

enum class ElevatorState(val position: Double) {
    DEFAULT(0.0),
    L1(0.5),
    L2(1.0)
}

object Elevator : SubsystemBase() {
    private val stateMachine = StateMachine(ElevatorState.DEFAULT)

    var state: ElevatorState
        get() = stateMachine.currentState
        set(value) = stateMachine.transitionTo(value)

    override fun periodic() {
        // Execute behavior based on current state
        setPosition(state.position)
    }
}