File content as of revision 5:64a88f154e65:

#include "Gobeur.h"


Gobeur::Gobeur(PinName pin_turbine, PinName pin_servo, float turbine_on, float turbine_off, float servo_open, float servo_close): 
    _order(release), _turbine_on(turbine_on), _turbine_off(turbine_off), _servo_open(servo_open), _servo_close(servo_close)
{
    _turbine = new Servo(pin_turbine);
    _servo = new Servo(pin_servo);
    *_turbine = _turbine_off;
    *_servo = _servo_close;
    
}

void Gobeur::update_order(int order)
{
    if(order == 0) _order = suck;
    if(order == 1) _order = release;
}
void Gobeur::automate(void)
{
    switch(_state)
    {
        case released:
            if( (_order == suck ) || ((clock_s() - _time) > 2*GOBEUR_PAUSE_TIMEOUT)&&0 )
            {
                 _state = sucking;
                 //                                                     *_servo = GOBEUR_SERVO_POS_OPEN;
                 *_turbine = _turbine_on;
                 _time = clock_s();
            }
            break;
        case sucking:
            if(  (clock_s() - _time) > GOBEUR_SUCKING_TIMEOUT) //TODO add switch
            {
                _state = closing;
                *_servo = _servo_close;
                //                                                      *_turbine = GOBEUR_TURBINE_TH_ON;
                _time = clock_s();
            }
            break;
        case closing:
            if( (clock_s() - _time) > GOBEUR_CLOSING_TIMEOUT) //TODO add switch
            {
                _state = sucked;
                //                                                      *_servo = GOBEUR_SERVO_POS_CLOSE;
                *_turbine = _turbine_off;
                _time = clock_s();
                // TODO send ack
            }
            break;
        case sucked:
            if( (_order == release ) || ((clock_s() - _time) > GOBEUR_PAUSE_TIMEOUT)&&0)
            {
                 _state = releasing;
                 *_servo = _servo_open;
                 //                                                       *_turbine = GOBEUR_TURBINE_TH_OFF;
                 _time = clock_s();
            }
            break;
        case releasing:
            if((clock_s() - _time) > GOBEUR_OPENING_TIMEOUT) //TODO add switch
            {
                _state = released;
                //                                                         *_servo = GOBEUR_SERVO_POS_OPEN;
                //                                                         *_turbine = GOBEUR_TURBINE_TH_OFF;
                _time = clock_s();
                // TODO send ack
            }
            break;
    }
}