int[,] transitions; // transition[#s][#i] = #s
public void Init(TeamRobot robot)
{
// Initialize the starting states
Scan scan = new Scan();
scan.Init(ref robot);
Offensive off = new Offensive();
off.Init(ref robot);
Defensive def = new Defensive();
def.Init(ref robot);
current = scan;
// Initialize the event queue for handling events
events = new Queue <Event>();
// Initialize and store the references to the states
states = new List <State>();
states.Add(current);
states.Add(off);
states.Add(def);
// Make transition table
transitions = new int[states.Count, states.Count];
transitions[0, 0] = 0; // Scan + !enemyFound == Scan
transitions[0, 1] = 1; // Scan + highEnergy == Offensive
transitions[0, 2] = 2; // Scan + !highEnergy == Defensive
transitions[1, 0] = 0; // Offensive + !enemyFound == Scan
transitions[1, 1] = 1; // Offensive + highEnergy == Offensive
transitions[1, 2] = 2; // Offensive + !highEnergy == Defensive
transitions[2, 0] = 0; // Defensive + !enemyFound == Scan
transitions[2, 1] = 1; // Defensive + highEnergy == Offensive
transitions[2, 2] = 2; // Defensive + !highEnergy == Defensive
}
