turret.adb

with adc;
with atmega128;
with Calendar;
with Digital_IO;

Procedure Turret is
    pragma Suppress (All_Checks);
    sensor : Integer := ADC.get(0); -- Teh all seeing 3y3
    ValRem : Boolean := False;
    shot : Boolean := True;

    procedure scan (SID: atmega128.Bit_Index) is
        Value : Integer := 0;
    begin
        Digital_IO.Enable_Servo (SID);
        Digital_IO.Set_Servo (SID, Digital_IO.Servo_Value (Value));

        Calendar.Delay_MS (10);

        -- begin right-left movement
        if Value >= 125 then
            ValRem := True;
            shot := false; -- Resetting letsnotwastebullet-boolean
        elsif Value <= -125 then
            ValRem := False;
            shot := false; -- Resetting letsnotwastebullet-boolean
        end if;

        if ValRem then
            Value := Value - 1;
        else
            Value := Value + 1;
        end if;
    end scan;

    procedure shoot (TID: atmega128.Bit_Index) is
        i : integer := 0; -- Iterator for triggering
        y : integer := 0; -- Iterator for untriggering
    begin

        Digital_IO.Set_Output (TID);
        Digital_IO.set_pin(TID, False);

        shot := True; -- Setting letsnotwastebullet-boolean

        while i < 3 Loop -- Firing
            Digital_IO.set_pin(TID,True);
            Calendar.Delay_ms(2);
            Digital_IO.set_pin(TID,False);
            Calendar.Delay_ms(20);
            i := i + 1;
        End Loop;
        Calendar.Delay_MS(100); -- Hold down trigger
        while y < 4 Loop -- Resetting gun state
            Digital_IO.set_pin(TID,True);
            Calendar.Delay_ms(1);
            Digital_IO.set_pin(TID,False);
            Calendar.Delay_ms(20);
            y := y + 1;
        End Loop;
        Calendar.Delay_ms(400); -- Rest for half a second before returning
    end shoot;

Begin

    loop -- main loop
        sensor := ADC.get(0);

        If (sensor >= 70 and shot = False) Then
            shoot(6);
        else
            scan(7);
        end if;
    end loop;

End Turret;