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BOAT PSEUDO-CODE

WAIT_FOR_IBUTTON

*If Ping received, Respond to Admiral

Turn off Team LED

Check for iButton

If No iButton return to WAIT_FOR_iBUTTON

If Yes read, store and go to WAIT_FOR_HELM_MATCH

WAIT_FOR_HELM_MATCH

Turn on Side LED

*If Ping received, Respond to Admiral

*If HARD_RESET received, go to WAIT_FOR_IBUTTTON

Check iButton S/N that are received, compare to stored S/N

If match

Send MATCHED to Address received

EXECUTE_COMMANDS

*If Ping received, Respond to Admiral

*If HARD_RESET received go to WAIT_FOR_IBUTTON

*If STAND_DOWN received, forward to Helm, send ACK to Admiral

Turn off all systems

Wait for ACK from Helm

Return to Executing commands

*If SOFT_RESET received, send ACK to Admiral, go to EXECUTE_COMMANDS

*If no commands received in 3 sec, turn off all actuators

Receive Helm commands

Execute the commands by writing to the actuators