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/*
  Ping Pong
*/

#include <nibobee/iodefs.h>          /* muss immer als erste Datei
                                        eingebunden werden */
#include <nibobee/led.h>             /* Funktionen fuer die LEDs */
#include <nibobee/sens.h>
#include <nibobee/delay.h>

enum {
  STATE_IDLE  = 0,
  STATE_PULL0 = 1,
  STATE_PULL1 = 2,
  STATE_KICK  = 3,
  STATE_PUSH  = 4
};

uint8_t calculate_state(uint8_t state, int8_t sensor) {
  switch (state) {

case STATE_PUSH:
    case STATE_IDLE:
      if (sensor==-1) {
        return STATE_PULL0;
      } else if (sensor==+1) {
        return STATE_PUSH;
      }
      return STATE_IDLE;
    
    case STATE_PULL0:
      if (sensor==-1) {
        return STATE_PULL1;
      } else if (sensor==+1) {
        return STATE_PUSH;
      }
      return STATE_IDLE;
    
    case STATE_PULL1:
      if (sensor==-1) {
        return STATE_PULL1;
      }
      return STATE_KICK;
    
    case STATE_KICK:
      return STATE_IDLE;
  }
  return state;
}

int main() {
  led_init();                        // IO-Ports der LEDs als Ausgänge
                                     // konfigurieren
  sens_init();

uint8_t ball_pos = 3;
  int8_t direction = -1;

uint8_t state_l = STATE_IDLE;
  uint8_t state_r = STATE_IDLE;

while(1==1) {                      // Endlosschleife (1==1 ist immer wahr!)
    delay(100);

state_l = calculate_state(state_l, sens_getLeft());
    if ( ((state_l==STATE_PUSH) && (ball_pos==1)) ||
         ((state_l==STATE_KICK) && (ball_pos==0)) ) {
      direction = +1;
    }

state_r = calculate_state(state_r, sens_getRight());
    if ( ((state_r==STATE_PUSH) && (ball_pos==2)) ||
         ((state_r==STATE_KICK) && (ball_pos==3)) ) {
      direction = -1;
    }

if (direction==+1) {
      if (ball_pos<3) {
        ball_pos++;
      } else {
        direction=0;
      }
    }
    
    if (direction==-1) {
      if (ball_pos>0) {
        ball_pos--;
      } else {
        direction=0;
      }
    }
    
    led_set(LED_L_YE, ball_pos==0);
    led_set(LED_L_RD, ball_pos==1);
    led_set(LED_R_RD, ball_pos==2);
    led_set(LED_R_YE, ball_pos==3);
  }
  return 0;
}

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