Master State Machine with Sub-State Machines. See below for enlarged versions
"Roboting" State Machine. This machine controls whether we are currently racing or waiting to start or restart the game
Serial Peripheral Interface - DRed Reckoning System State Machine. This machine runs concurrently with the Roboting State Machine. It is in charge of constantly querying and reading data from the DRS
Shooting State Machine. Controls our bot's actions once it detects that it is in the Pre-Shooting Area
Obstacle Crossing State Machine. Controls our bot when it detects that it is at the base of the ramp