AMiRo-OS

  // uint8_t IDLE                = 0;

  // uint8_t FOLLOW_LINE         = 1;

  // uint8_t DETECT_STATION      = 2;

  // uint8_t REVERSE             = 3;

  // uint8_t PUSH_BACK           = 4;

  // uint8_t CHECK_POSITIONING   = 5;

  // uint8_t CHECK_VOLTAGE       = 6;

  // uint8_t CHARGING            = 7;

  // uint8_t RELEASE             = 8;

  // uint8_t RELEASE_TO_CORRECT  = 9;

  // uint8_t CORRECT_POSITIONING = 10;

  // uint8_t TURN                = 12;

  // uint8_t INACTIVE            = 13;

  // uint8_t CALIBRATION         = 14;

  // uint8_t CALIBRATION_CHECK   = 15;

  // uint8_t DEVIATION_CORRECTION = 16;

  // uint8_t DOCKING_ERROR       = 16+1;

  // uint8_t REVERSE_TIMEOUT_ERROR   = 16+2;

  // uint8_t CALIBRATION_ERROR   = 16+3;

  // uint8_t WHITE_DETECTION_ERROR   = 16+4;

  // uint8_t PROXY_DETECTION_ERROR   = 16+5;

  // uint8_t NO_CHARGING_POWER_ERROR   = 16+6;

  // uint8_t UNKNOWN_STATE_ERROR   = 16+7;

  // chprintf(chp, "IDLE: %d\n", global.stateTracker[IDLE]);

  // chprintf(chp, "FOLLOW_LINE: %d\n", global.stateTracker[FOLLOW_LINE]);

  // chprintf(chp, "DETECT_STATION: %d\n", global.stateTracker[DETECT_STATION]);

  // chprintf(chp, "REVERSE: %d\n", global.stateTracker[REVERSE]);

  // chprintf(chp, "PUSH_BACK: %d\n", global.stateTracker[PUSH_BACK]);

  // chprintf(chp, "CHECK_POSITIONING: %d\n", global.stateTracker[CHECK_POSITIONING]);

  // chprintf(chp, "CHECK_VOLTAGE: %d\n", global.stateTracker[CHECK_VOLTAGE]);

  // chprintf(chp, "CHARGING: %d\n", global.stateTracker[CHARGING]);

  // chprintf(chp, "RELEASE: %d\n", global.stateTracker[RELEASE]);

  // chprintf(chp, "RELEASE_TO_CORRECT: %d\n", global.stateTracker[RELEASE_TO_CORRECT]);

  // chprintf(chp, "CORRECT_POSITIONING: %d\n", global.stateTracker[CORRECT_POSITIONING]);

  // chprintf(chp, "TURN: %d\n", global.stateTracker[TURN]);

  // chprintf(chp, "INACTIVE: %d\n", global.stateTracker[INACTIVE]);

  // chprintf(chp, "CALIBRATION: %d\n", global.stateTracker[CALIBRATION]);

  // chprintf(chp, "CALIBRATION_CHECK: %d\n", global.stateTracker[CALIBRATION_CHECK]);

  // chprintf(chp, "DEVIATION_CORRECTION: %d\n", global.stateTracker[DEVIATION_CORRECTION]);

  // chprintf(chp, "DOCKING_ERROR: %d\n", global.stateTracker[DOCKING_ERROR]);

  // chprintf(chp, "REVERSE_TIMEOUT_ERROR: %d\n", global.stateTracker[REVERSE_TIMEOUT_ERROR]);

  // chprintf(chp, "CALIBRATION_ERROR: %d\n", global.stateTracker[CALIBRATION_ERROR]);

  // chprintf(chp, "WHITE_DETECTION_ERROR: %d\n", global.stateTracker[WHITE_DETECTION_ERROR]);

  // chprintf(chp, "PROXY_DETECTION_ERROR: %d\n", global.stateTracker[PROXY_DETECTION_ERROR]);

  // chprintf(chp, "NO_CHARGING_POWER_ERROR: %d\n", global.stateTracker[NO_CHARGING_POWER_ERROR]);

  // chprintf(chp, "UNKNOWN_STATE_ERROR: %d\n", global.stateTracker[UNKNOWN_STATE_ERROR]);

  // for (int i=0; i<24;i++){

  //   global.stateTracker[i] = 0;

  // }