40 lines
1007 B
C++
40 lines
1007 B
C++
#pragma once
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#include <stdint.h>
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namespace logic {
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/// @brief Unload to FINDA "small" state machine
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///
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/// "small" state machines will serve as building blocks for high-level commands/operations
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/// - engage/disengage idler
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/// - rotate pulley to some direction as long as the FINDA is on/off
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/// - rotate some axis to some fixed direction
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/// - load/unload to finda
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struct UnloadToFinda {
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/// internal states of the state machine
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enum {
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EngagingIdler,
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WaitingForFINDA,
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OK,
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Failed
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};
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inline UnloadToFinda()
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: maxTries(3) {}
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/// Restart the automaton
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/// @param maxTries maximum number of retried attempts before reporting a fail
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void Reset(uint8_t maxTries);
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/// @returns true if the state machine finished its job, false otherwise
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bool Step();
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/// @returns internal state of the state machine
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inline uint8_t State() const { return state; }
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private:
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uint8_t state;
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uint8_t maxTries;
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};
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} // namespace logic
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