open.cpp

00001 /*
00002 * Authors: Group 4 Adam Elghor, Brian Kaplan, Sayak Chatterjee, Moraa Onwonga
00003 * Purpose: Controls the OPEN state of the machine
00004 * Language:  C
00005 */
00006 #include "open.h"
00007 #include "authentication.h"
00008 #include "actuators.h"
00009 #include "parameters.h"
00010 
00011 /*
00012 * Function:  OPEN
00013 * --------------------
00014 *  Calls the functions needed to for the open state
00015 *
00016 *
00017 *  returns: the next state in the state machine
00018 *  LOCK: if closed properly
00019 *  ALARM: if cup is not found after searching in a full circle
00020 *
00021 */
00022 enum states open() {
00023     if (authenticateOpen()) {
00024         return OPEN;
00025     } else {
00026         lockSafe();
00027         wait(5);
00028         return LOCK;
00029     }
00030 }
00031 
00032 /*
00033 * Function: authenticate
00034 * ----------------------------
00035 *  Checks whether a cup was found through the sonar sensor
00036 *
00037 *  returns: true if cup found else false
00038 */
00039 bool authenticateOpen() {
00040     return CorrectEntrySequenceAttempt();
00041 }
00042 
00043