File content as of revision 1:be03cac9fe74:

#include "servo.h"
Servo myServo;

Servo::Servo(unsigned int uiServoFrequency) {
    LedInit();
    sServo.eState = CALLIB;
    Timer0Interrupts_Init((1000000/uiServoFrequency), &ServoAutomat);
    while(sServo.eState != IDLE) {}
}

void ServoGoTo(unsigned int uiPosition) {
    sServo.uiDesiredPosition = uiPosition;
    sServo.eState = IN_PROGRESS;
    while(sServo.eState != IDLE) {}
}

void ServoCallib() {
    sServo.eState = CALLIB;
    while(sServo.eState != IDLE) {}
}

void Servo::Automat() {
    switch(myServo::eState) {
        case IN_PROGRESS:
            if(uiCurrentPosition < uiDesiredPosition) {
                LedStepRight();
                uiCurrentPosition++;
            }
            else if(uiCurrentPosition > uiDesiredPosition){
                LedStepLeft();
                uiCurrentPosition--;
            }
            else {
                eState = IDLE;
            }
        break;
        case IDLE:
            if (uiCurrentPosition != uiDesiredPosition) {
                eState = IN_PROGRESS;
            }
            else {}
        break;
        case CALLIB:
            if(eReadDetector() == ACTIVE) {
                eState = IDLE;
                uiCurrentPosition = 0;
                uiDesiredPosition = 0;
            }
            else {
                LedStepLeft();
            }
        break;
    }
}

enum DetectorState eReadDetector() {
    if ((IO0PIN & DETECTOR_bm) == 0) {
        return ACTIVE;
    }
    else {
        return INACTIVE;
    }
}