Fall Controller - northern-bites/nbites GitHub Wiki

Fall Controller is an FSA that deals with situations where the robot may fall over. Ideally, Fall Controller would prevent the robot from falling all together by seizing control from the Player and telling the robot to balance or stop moving all together (as seen from B-Human and others). More often, it kills stiffness to prevent damage to the robot and performs a get-up routine dependent on how the robot fell over. Code for the FSA is here and code for the states is here.

It is unclear that Fall Controller should, in fact, be an FSA in structure. It certainly works, but the same functionality could be implemented in a different (better?) way. It is worth thinking about alternatives, but the flow of commands involved in standing up, certainly supports using an FSA.