unload_to_finda.h

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#pragma once
#include <stdint.h>
 
namespace logic {
 
struct UnloadToFinda {
    enum {
        EngagingIdler,
        UnloadingToFinda,
        WaitingForFINDA,
        OK,
        FailedFINDA,
        FailedFSensor
    };
    inline constexpr UnloadToFinda()
        : state(OK)
        , maxTries(3)
        , unloadStart_mm(0) {}
 
    void Reset(uint8_t maxTries);
 
    bool Step();
 
    inline uint8_t State() const { return state; }
 
private:
    uint8_t state;
    uint8_t maxTries;
    int32_t unloadStart_mm; // intentionally trying to avoid using U_mm because it is a float (reps. long double)
};
 
} // namespace logic