Robot State Information

Demux state machine states:

• This state is the first one returned when using special command 172 (first param returned)
• The demux state machine states are as follows: (see demux_statemachine.c for details)

 STATE_ZERO =0,
 FIRST_STATE =1,
 LOCAL_INIT,  
 DO_MC_BOOT_STATE,            // 3
 WAIT_FOR_MC_BOOT,            // 4
 SYSTEM_INIT,                 // 5
 RUN_TIME,                    // 6
 DEMUX_IDLE_STATE,            // 7
 DEMUX_POWER_OFF,             // 8
 CALB_TABLE_ID_MISMATCH = 10,
 DO_MC_BS_ZERO_S1,            // 11
 DO_MC_BS_ZERO_S2,            // 12
 WAIT_FOR_MC_CMD_RSP,         // 13
 MC_POWER_CYCLE,              // 14
 MC_RESTART,                  // 15
 CHECK_FOR_ZERO_TORQUE,       // 16
 ION_SUCCESS_TONE,            // 17
 ION_FAILED_TONE,             // 18
 MC_BOOT_ERROR,               // 19
 ANKLE_BOOT_ERROR,            // 20
 IMU_BOOT_ERROR,         // 21
 MC_RUN_TIME_ERROR,      // 22
 IMU_INIT,               // 23
 LOGGING_SYSTEM_INIT,    // 24
 SAVE_STARTUP_RECORD,    // 25
 WAIT_FOR_POST,          // 26
 DIAG_SHUTDOWN,          // 27
 PRE_RUN_TIME,           // 28