struct State ( unsigned long Out unsigned long Time unsigned long Next[21 inputs define forward 0 Adefine reverse States Adefine A 0 define B 1 define C 2 define D 3 struct State ( unsigned long Out; unsigned long Time; unsigned long Nextl2]:) typedef const struct State STyp; usigned long S STyp fsm(4]- (0x06, 1, (C, A (0x05, I, B, D (0xOA, 1, D, B)) (0x09, I, (A, C)) int main(void) S- A while(D Output fsm/SL.out; set output from FSM SysTick_ Wait1Oms(fsm(S].delay);// wait Input Direction0: get direction of motor forward or reverse s-fsm/SJ.nextlImput]; /ext depends on input and state struct State ( unsigned long Out unsigned long Time unsigned long Next[21 inputs define forward 0 Adefine reverse States Adefine A 0 define B 1 define C 2 define D 3 struct State ( unsigned long Out; unsigned long Time; unsigned long Nextl2]:) typedef const struct State STyp; usigned long S STyp fsm(4]- (0x06, 1, (C, A (0x05, I, B, D (0xOA, 1, D, B)) (0x09, I, (A, C)) int main(void) S- A while(D Output fsm/SL.out; set output from FSM SysTick_ Wait1Oms(fsm(S].delay);// wait Input Direction0: get direction of motor forward or reverse s-fsm/SJ.nextlImput]; /ext depends on input and state