// Eingebettete Systeme  / Embedded Systems
// Embedded Distance Assistent (EDA)
// SEMESTER: SS24
// AUTHORS: David Heiss, Manfred Pester, Jens-Peter Akelbein
// FILE: motion.c
// CONTENTS: implementation for all functions of motion module

#include <motion.h>
#include <sample.h>
#include <state.h>

// current movement is zero mm/sec
int32_t motion_current = 0;

// initialization steps for motion specific
void motion_init(void)
{
}

// loop for regular tasks related to motion functions
void motion_loop(void)
{
    // super simple control logic
    struct sample_t current_sample = sample_series_get(distance_raw, 0);
    if (current_sample.value / 1000. > gap_target) {
        duty_cycle = 0.5f;
    } else {
        duty_cycle = 0.f;
    }
}