本代码继承于上海交通大学交龙战队RoboMaster机甲大师赛机器人统一框架.
采用状态机来转换机器人工作状态，状态机切换逻辑如下： 遥控器右上拨杆控制inputmode
| Position | inputmode |
|---|---|
| upper | REMOTE_MODE |
| middle | KEYBOARD_MODE |
| lower | STOP |
遥控器左上拨杆控制functionmode
| Position | functionmode |
|---|---|
| upper | UPPER_POS |
| middle | MIDDLE_POS |
| lower | LOWER_POS |
二者组合控制WorkState WorkState开机初始化PREPARE_STATE, 开机初始化后自动入NORMAL_STATE
| inputemode | functionmode | WorkState |
|---|---|---|
| STOP | * | STOP_STATE |
| REMOTE_INPUT | UPPER_POS | NORMAL_STATE |
| REMOTE_INPUT | MIDDLE_POS | ADDITIONAL_STATE_ONE |
| REMOTE_INPUT | LOWER_POS | ADDITIONAL_STATE_TWO |