File content as of revision 0:49a747f09bd2:

#include "mbed.h"
#include "AmmoSupplier.h"
#include "I2CMotor.h"

const float AmmoSupplier::mTimeout_sec              = 3.0f;
const float AmmoSupplier::mDuty                     = 0.5f;
const PinName AmmoSupplier::mLazerSensorDinPinName  = D5;

AmmoSupplier::AmmoSupplier( I2CMotor** motor ){
    mSupplier        = motor;
    mAmmoLazerSensor = new DigitalIn( mLazerSensorDinPinName );
    mTimer           = new Timer;
    mIsSupplying     = false;
}

void AmmoSupplier::update(){
    I2CMotor::ActionType action = I2CMotor::BRAKE;
    
    if ( mIsSupplying ){
        if ( mTimer->read() > mTimeout_sec ){
            mIsSupplying = false;
            mTimer->stop();
            mTimer->reset();
        } else if ( mAmmoLazerSensor->read() ){
            mIsSupplying = false;
        } else {
            action = I2CMotor::FORWARD;
        }
    }
    
    for ( int i = 0; i < 2; ++i ){
        mSupplier[ i ]->setActionType( action );
        mSupplier[ i ]->setDuty( mDuty );
    }
}