void door_tick(void)
{
door_update_inputs();
if( door_desiredState == DOOR_LOCK_LOCKED && !locking && !locked ){
door_startLock();
}else if( door_desiredState == DOOR_LOCK_UNLOCKED && !unlocking && !unlocked){
door_startUnlock();
}
if(adc_getChannel(7) > 1000) {
door_stop();
if(locking) {
locking = false;
locked = true;
unlocked = false;
}
if(unlocking) {
unlocking = false;
unlocked = true;
locked = false;
}
}
}
void door_tick(void)
{
static uint16_t timeout = 0;
static bool previousbarsensor = false;
bool barsensor = door_barSensor();
door_update_inputs();
switch(door_state)
{
case DOOR_IDLE:
if( door_desiredState == DOOR_LOCK_LOCKED && door_barState != BAR_LOCKED ){
door_state = DOOR_LOCK;
}else if( door_desiredState == DOOR_LOCK_UNLOCKED && door_barState != BAR_UNLOCKED ){
door_state = DOOR_UNLOCK;
}else if( door_barState == BAR_UNKNOWN ){
door_state = DOOR_LOCKING;
}
break;
case DOOR_LOCK:
if( door_closed() && !door_handlePressed()){
previousbarsensor = barsensor;
door_startLock();
door_state = DOOR_LOCKING;
// Timeout in which the action must be
// completed by the motor.
timeout = 6000;
}
break;
case DOOR_LOCKING:
//if( door_locked() ){
if( previousbarsensor == true && barsensor == false ){
door_stopLock();
door_state = DOOR_IDLE;
timeout = 0;
door_barState = BAR_LOCKED;
}else if( --timeout == 0 ) {
door_stopLock();
// TODO: handle the error or retry.
door_state = DOOR_IDLE;
}
break;
case DOOR_UNLOCK:
if( door_closed() && !door_handlePressed()){
door_startLock();
door_state = DOOR_UNLOCKING;
// Timeout in which the action must be
// completed by the motor.
timeout = 6000;
}
break;
case DOOR_UNLOCKING:
//if( door_unlocked() ){
if( previousbarsensor == false && barsensor == true ){
door_stopLock();
door_state = DOOR_IDLE;
timeout = 0;
door_barState = BAR_UNLOCKED;
}else if( --timeout == 0 ) {
door_stopLock();
// TODO: handle the error or retry.
door_state = DOOR_IDLE;
}
break;
}
previousbarsensor = barsensor;
// TODO: put overcurrent detection here
}
