Delaying action on State Change

Projects General Guidance
8

The "StateChangeDetection" sketch is for a button with only two states. A State Machine generally has more states. I like to use an enumeration to name the states and a switch statement to sort out the states:

enum {WaitingForSwitchOn, MotorMovingOut, DwellPeriod, WaitingForSwitchOff, MotorMovingIn} machineState = WaitingForSwitchOn;

void loop() {
   switch (machineState){
case WaitingForSwitchOn:
        if (switchPin) {
            timerStart = millis();
            digitalWrite(CWPin, HIGH);
            machineState = MotorMovingOut;
        }
        break;
            
case MotorMovingOut:
       if (millis() - timerStart > MotorTime) {
            digitalWrite(CWPin, LOW);
            timerStart = millis;
            machineState = DwellPeriod;
       }
       break;

case DwellPeriod:
       if (millis() - timerStart > Dwell) {
            machineState = WaitingForSwitchOff;
       }
       break;

case WaitingForSwitchOff:
        if (!switchPin) {
            timerStart = millis();
            digitalWrite(CCWPin, HIGH);
            machineState = MotorMovingIn;
        }
        break;

case MotorMovingIn:
       if (millis() - timerStart > MotorTime) {
            digitalWrite(CCWPin, LOW);
            machineState = WaitingForSwitchOn;
       }
       break;
    }
}