#include "MotorCtrl.h"

#include "hwCtrl.h"
#include "PINdef.h"
#include "appTask.h"
//#include "pfdl.h"


uint8_t MotorState[6],MotorStateReal[6];



void MotorValueInit(void)
{
    uint8_t i = 0;
    for (i = 0; i < 6; i++)
    {
        MotorState[i] = ACT_NOACT;
        MotorStateReal[i] = ACT_NOACT;
    }
}


void setMotorState(uint8_t motorid,uint8_t act)
{
    //motorid-=1;
    if (act <= ACT_XH && motorid < 6)
    {
        MotorState[motorid] = act;
    }
}





#define MOTOR_DELAY_TIME_8S (800)
#define MOTOR_DELAY_TIME_6S (600)
void MotorCtrl(void)//10ms
{
    static uint16_t MotorRunCount;
    switch (MotorState[0])
    {
    case ACT_NOACT:
        MotorRunCount = 0;
        MotorStateReal[MOTOR1] = ACT_NOACT;
        MotorStateReal[MOTOR2] = ACT_NOACT;
        break;
    case ACT_XQ:
        MotorRunCount++;
        MotorStateReal[MOTOR1] = ACT_XQ;
        if (MotorRunCount > MOTOR_DELAY_TIME_6S)
        {
            MotorRunCount = MOTOR_DELAY_TIME_6S;
            MotorStateReal[MOTOR2] = ACT_XQ;
        }
        else
        {
            MotorStateReal[MOTOR2] = ACT_NOACT;

        }
        break;
        
    case ACT_XH:
        MotorRunCount++;
        MotorStateReal[MOTOR2] = ACT_XH;
        if (MotorRunCount > MOTOR_DELAY_TIME_8S)
        {
            MotorRunCount = MOTOR_DELAY_TIME_8S;
            MotorStateReal[MOTOR1] = ACT_XH;
        }
        else
        {
            MotorStateReal[MOTOR1] = ACT_NOACT;
        }
        break;

    
    default:
        break;
    }
    
    MOTOR1Ctrl(MotorStateReal[MOTOR1]);
    MOTOR2Ctrl(MotorStateReal[MOTOR2]);
}