Piper Integration

System Integration with Piper

A machine subsystem should be self contained and, typically, in its own task. Integration of subsystems into the main machine logic should be done using Piper’s state/response mechanism. Piper is the main tool used to handle subsystem synchronization. If the subsystem needs tighter integration with other components, it may be necessary to make a global interface for other systems to use.

Machine state changes should be requested using:

gMachine.IN.CMD

Piper Description	Piper Flowchart