HandleCollision State Machine

If a collision is detected by the robot's limit switches at any point during AcquireMiner, the handle collision state machine will begin. The TRACTOR will negate its current motion, and then move to a safe location. If the MINER is in possession, it will continue looking for the permit location. If not, the TRACTOR will rotate until it detects another MINER. 

Pseudocode

HandleCollisionSM.c

HandleCollisionSM.h