int main(void) {
int errorCode = 0;
unsigned char state = STOP;
unsigned char snapshot = 0x00;
errorCode = initIOPorts();
errorCode = initAC();
switchMotor(STOP);
selectInitialState(&state);
FOREVER {
snapshotOfInputs(&snapshot);
if(snapshot & S1) {
//Automatikbetrieb
switch(state) {
case BOTTOM:
switchMotor(STOP);
if(!(snapshot & BIT_ACO)) state = UP;
break;
case TOP:
switchMotor(STOP);
if(snapshot & BIT_ACO) state = DOWN;
break;
case UP:
switchMotor(UP);
if(!(snapshot & B1)) state = TOP;
break;
case DOWN:
switchMotor(DOWN);
if(!(snapshot & B2)) state = BOTTOM;
break;
case STOP:
if(!(snapshot & BIT_ACO)) state = UP;
else state = DOWN;
break;
}
}
else {
//Manueller Betrieb
switch(state) {
case BOTTOM:
switchMotor(STOP);
if(!(snapshot & S2)) state = UP;
break;
case TOP:
switchMotor(STOP);
if(!(snapshot & S3)) state = DOWN;
break;
case UP:
switchMotor(UP);
if(!(snapshot & B1)) state = TOP;
else if(snapshot & S2) state = STOP;
break;
case DOWN:
switchMotor(DOWN);
if(!(snapshot & B2)) state = BOTTOM;
else if(snapshot & S3) state = STOP;
break;
case STOP:
switchMotor(STOP);
if(!(snapshot & S2)) state = UP;
else if(!(snapshot & S3)) state = DOWN;
break;
}
}
}
return 0;
}
void capacitor::initHB (void) {
initAC ();
}
void strafo::initTR (void) {
initAC ();
}
