// hopper.nqc
//
// LEGO train hopper dumper 
//
// Author: John Koob
// Date:   Sep. 18, 2003 

int DEBUG = 0;
int DUMP_TIME = 2500;
int CLAMP_TIME = 600;
int ADJUST_TIME = 70; 
int DELAY_MIN = 1;
int DELAY_CLAMP = 1;
int DELAY_RUN = 15;
int CLAMP = 1;
int UNCLAMP = 0;

task main()
{
    SetSleepTime(0);
    SetSensor(SENSOR_1, SENSOR_TOUCH);
    start controller;
}

// tip the hopper wait and restore
void dump()
{
    int dump_time = DUMP_TIME;
    int adjust_time = ADJUST_TIME;
    int delay;

    // Tip the dumper
    PlaySound(SOUND_DOWN);
    Rev(OUT_B);
    OnFor(OUT_B, dump_time);

    delay = 100 * (DELAY_MIN + Random(4));
    Wait(delay);

    // Restore dumper to horizontal 
    PlaySound(SOUND_UP);
    Fwd(OUT_B);
    On(OUT_B);
    until(SENSOR_1 == 1);
    Off(OUT_B);
    PlaySound(SOUND_LOW_BEEP);

    // Final spurt to make level
    OnFor(OUT_B, adjust_time);

    delay = 100 * (DELAY_MIN + Random(3));
    Wait(delay);
}

// clamp and unclamp 
void clamp(int clamp)
{
    int clamp_time = CLAMP_TIME;
    int delay;

    if (clamp)
        Rev(OUT_A);
    else
        Fwd(OUT_A);

    PlaySound(SOUND_CLICK);
    OnFor(OUT_A, clamp_time);

    delay = 100 * (DELAY_CLAMP + Random(2));
    Wait(delay);

}

// main controller that decides how long to wait between runs 
task controller()
{
    int delay;

//    while (true)
 //   {
	delay = 100 * (DELAY_RUN + Random(5));
	clamp(CLAMP);
	dump();
	clamp(UNCLAMP);
	Wait(delay);
//    }
}