Here is the current plan for the main state machine on the ACV. It will run on the Xbee PIC and will be in charge of identifying our team and capturing an atoll (including sending all the messages required for these tasks). It does not interfere with any commands that need to be sent to the drive motors (even though these commands are sent on the same UART line used to talk to the Xbee, they have a different start byte and are not subjected to the 5Hz limit). We expect that this state machine will be responsible for all messages sent from the ACV.
