Abstract
Complex mechanical systems, those with such interacting components as motion control loops. process or thermal control loops, intelligent subsystems such as robots. etc ., require a design methodology for representation of control software. Transition logic has been found to be effective for design of real time control software and is used here for mechanical systems. The definition of the transition logic has been extended to include a formal function set associated with each state, and rules for how those functions must operate. This provides added formality and modularity to the software design process, and also establishes a discipline in which implementation of cooperative multitasking is simple and direct.
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