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Setki modułów Voldeno przygotowanych do wdrożenia w inteligentnych domach.","jestesmy-gotowi-setki-modulow-voldeno-przygotowanych-do-wdrozenia-w-inteligentnych-domach","pl\u002Fblog\u002Fjestesmy-gotowi-setki-modulow-voldeno-przygotowanych-do-wdrozenia-w-inteligentnych-domach","2025-08-17","2025_08_17_we_are_ready",{"title":958,"slug":959,"path":960,"order":69,"date":961,"translation_key":962},"Nowy czujnik temperatury Voldeno 1-Wire - kompaktowy, niezawodny i stworzony do dużych instalacji","nowy-czujnik-temperatury-1-wire-voldeno-kompaktowy-niezawodny-i-zaprojektowany-do-instalacji-na-duza-skale","pl\u002Fblog\u002Fnowy-czujnik-temperatury-1-wire-voldeno-kompaktowy-niezawodny-i-zaprojektowany-do-instalacji-na-duza-skale","2025-04-25","2025_04_25_new_voldeno_1wire_temperature_sensor",{"title":964,"slug":965,"path":966,"order":69,"date":967,"translation_key":968},"Odkryj przyszłość inteligentnych domów z Voldeno","odkryj-przyszlosc-inteligentnych-domow-z-voldeno","pl\u002Fblog\u002Fodkryj-przyszlosc-inteligentnych-domow-z-voldeno","2024-10-18","2024_10_18_future_of_smart_homes",[970,975,978,982,986],{"title":971,"slug":972,"path":973,"order":69,"date":943,"translation_key":974},"Zero-crossing switching: how the I\u002FO and RELAY modules extend relay contact life","zero-crossing-switching-io-and-relay-modules","en\u002Fblog\u002Fzero-crossing-switching-io-and-relay-modules","2026_06_11_zero_crossing_switching",{"title":976,"slug":947,"path":977,"order":69,"date":949,"translation_key":950},"Voldeno powered the Fischertechnik factory demo at Google Cloud Next '26","en\u002Fblog\u002Fvoldeno-at-google-cloud-next-26",{"title":979,"slug":980,"path":981,"order":69,"date":955,"translation_key":956},"We are ready! Hundreds of Voldeno modules prepared for smart home deployment.","we-are-ready","en\u002Fblog\u002Fwe-are-ready",{"title":983,"slug":984,"path":985,"order":69,"date":961,"translation_key":962},"New Voldeno 1-Wire Temperature Sensor - Compact, Reliable, and Built for Large-Scale Installations","new-voldeno-1-wire-temperature-sensor-compact-reliable-and-built-for-large-scale-installations","en\u002Fblog\u002Fnew-voldeno-1-wire-temperature-sensor-compact-reliable-and-built-for-large-scale-installations",{"title":987,"slug":988,"path":989,"order":69,"date":967,"translation_key":968},"Discover the Future of Smart Homes with Voldeno","future_of_smart_homes","en\u002Fblog\u002Ffuture_of_smart_homes",{"pl":991,"en":992,"xDefault":991},"https:\u002F\u002Fvoldeno.com\u002Fpl\u002Fdocs\u002Fbloki-logiczne\u002Fprocess\u002Fgate","https:\u002F\u002Fvoldeno.com\u002Fen\u002Fdocs\u002Flogic-blocks\u002Fprocess\u002Fgate",{"slug":367,"title":366,"description":994,"tags":995,"content_html":996,"headings":997,"template":278,"extra":1013},"Learn how the Gate logic block works, when to use it, and how to configure it in your Voldeno smart home automation.",[260,322,367],"\u003Ch1 id=\"gate\">\u003Ca href=\"#gate\" class=\"anchor\">#\u003C\u002Fa> Gate\u003C\u002Fh1>\n\u003Cdiv class=\"block-meta\">\n  \u003Cspan class=\"badge badge-group badge-group-process\">Process\u003C\u002Fspan>\n\u003C\u002Fdiv>\n\n\u003Cp class=\"block-description\">Controls gates and garage doors, either directly or through an external gate controller\u003C\u002Fp>\n\u003C!-- BLOCK_DIAGRAM -->\n\u003Ch2 id=\"source-code\">\u003Ca href=\"#source-code\" class=\"anchor\">#\u003C\u002Fa> Source Code\u003C\u002Fh2>\n\u003Cdetails class=\"code-details\">\u003Csummary>View Volang source\u003C\u002Fsummary>\n\u003Cdiv class=\"code-block\" data-lang=\"volang\">\n\u003Cpre>\u003Ccode class=\"language-volang\">\u003Cspan class=\"comment\">\u002F\u002F Gate \u002F garage door controller.\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F Control modes (config control_mode):\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F   0 - Direct motor control: open\u002Fclose outputs are level signals driving the motor\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F   1 - Single control output, controller cycles open\u002Fstop\u002Fclose\u002Fstop on each pulse (3F)\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F   2 - Single control output, controller toggles open\u002Fclose on each pulse (no stop)\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F   3 - Separate pulse outputs for open and close; the controller function behind each\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F       output is configured with open_output_function \u002F close_output_function:\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F       0 - Open (Ot), 1 - Close (ZA), 2 - Open\u002FClose (OZ), 3 - Open\u002FStop\u002FClose (3F),\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F       4 - Partial open (U), 5 - Partial open\u002FClose (PC)\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F gate_state output values:\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F   0 - closed, 1 - opening, 2 - open, 3 - closing, 4 - stopped midway, 5 - partially open\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F desired_action state values:\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F   0 - none, 1 - open, 2 - close, 3 - stop,\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F   4 - partial open through a controller channel (dedicated partial pulse, or a\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F       close pulse on a closed gate for the Partial open\u002FClose function),\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F   5 - raw control pulse (hardware toggle pass-through)\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F Position is simulated from opening\u002Fclosing durations on a 100ms tick and corrected\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F by the is_open \u002F is_closed limit switch inputs when they are connected.\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F motor_lock_duration is the time the motor needs to reverse direction. In direct mode it\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F keeps the motor off for that time (motor protection); in the non-direct modes the\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F controller owns the motor, so the lock instead holds the simulated position for the\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F reversal window so the position estimate accounts for the time a reversal takes.\u003C\u002Fspan>\n\n\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::channel\u003C\u002Fspan>()\n\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::value\u003C\u002Fspan>()\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">ticks_for\u003C\u002Fspan>(\u003Cspan class=\"variable\">seconds\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">t\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>((\u003Cspan class=\"variable\">seconds\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>) \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">t\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">t\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"variable\">t\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Position margin (percent) within which a limit-switch re-assert right after the\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F gate departs that limit is treated as contact bounce rather than a real arrival.\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F Outside this margin the sensor is always trusted, so remote \u002F external movement\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F that drives the gate back to a limit is honored.\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">sensor_bounce_margin\u003C\u002Fspan>() {\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"number\">5\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"variable\">s\u003C\u002Fspan>) {\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"gate_state\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">s\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">apply_stopped_state\u003C\u002Fspan>() {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n        \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">4\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"variable\">d\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">prev_dir\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_dir\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">d\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F A direction reversal costs the motor lock time regardless of the control mode.\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F In direct mode the motor is physically held off for that time (handled in\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F process_desired). In the non-direct modes the controller owns the motor, so the\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F pulse is sent right away, but the gate still needs that time to reverse - hold the\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F simulated position for the remaining lock window so the estimate stays accurate.\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">prev_dir\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"variable\">d\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"motor_lock_duration\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">since\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>() \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_movement_ts\"\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">since\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan>) {\n                \u003Cspan class=\"variable\">lt\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>((\u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">since\u003C\u002Fspan>) \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>)\n                \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">lt\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n                    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_lock_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">lt\u003C\u002Fspan>)\n                }\n            }\n        }\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_dir\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">d\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_movement_ts\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>())\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_lock_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">direct_apply\u003C\u002Fspan>(\u003Cspan class=\"variable\">d\u003C\u002Fspan>) {\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"open\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"close\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">pulse_output_name\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">out_id\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"string\">\"control\"\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">out_id\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"string\">\"open\"\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"string\">\"close\"\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">cycle_state_name\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">out_id\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"string\">\"cycle_next\"\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">out_id\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"string\">\"cycle_next_op\"\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"string\">\"cycle_next_cl\"\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Returns the pulse output (2=open, 3=close) whose controller function matches f,\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F or 0 when none is configured. Used in separate pulses mode only.\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"variable\">f\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"open_output_function\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"variable\">f\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"close_output_function\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"variable\">f\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F Mirror what the external controller does when it receives a pulse\u003C\u002Fspan>\n\u003Cspan class=\"comment\">\u002F\u002F on a channel configured with the given function\u003C\u002Fspan>\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">apply_channel_function\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>, \u003Cspan class=\"variable\">f\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">f\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F open\u003C\u002Fspan>\n        \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">f\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F close\u003C\u002Fspan>\n        \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">f\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F open\u002Fclose toggle\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">d\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">f\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F open\u002Fstop\u002Fclose\u002Fstop cycle, tracked per channel\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">a\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"function\">cycle_state_name\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>))\n        \u003Cspan class=\"variable\">nxt\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">a\u003C\u002Fspan> \u003Cspan class=\"operator\">+\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">nxt\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">nxt\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"function\">cycle_state_name\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>), \u003Cspan class=\"variable\">nxt\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">a\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">a\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">apply_stopped_state\u003C\u002Fspan>()\n        }\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">f\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">4\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F partial open - controller moves the gate to its partial position\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">ppos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_open_position\"\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"comment\">\u002F\u002F f == 5: partial open \u002F close\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>) \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F controller interprets a pulse on a closed gate as partial open\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_open_position\"\u003C\u002Fspan>))\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n        \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">apply_pulse_semantics\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F single control output with open\u002Fstop\u002Fclose cycle\u003C\u002Fspan>\n        \u003Cspan class=\"function\">apply_channel_function\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>, \u003Cspan class=\"number\">3\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F single control output with open\u002Fclose toggle\u003C\u002Fspan>\n        \u003Cspan class=\"function\">apply_channel_function\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>, \u003Cspan class=\"number\">2\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"comment\">\u002F\u002F separate pulses - behaviour depends on the configured channel function\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">f\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"open_output_function\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">out_id\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">f\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"close_output_function\"\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"function\">apply_channel_function\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>, \u003Cspan class=\"variable\">f\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>) {\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"function\">pulse_output_name\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>), \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_out\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">out_id\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>, \u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"function\">ticks_for\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_duration\"\u003C\u002Fspan>)))\n    \u003Cspan class=\"function\">apply_pulse_semantics\u003C\u002Fspan>(\u003Cspan class=\"variable\">out_id\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">process_desired\u003C\u002Fspan>() {\n    \u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">5\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F hardware toggle pass-through\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"variable\">ch\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">4\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F partial open through a controller channel\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">4\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"variable\">ch\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"comment\">\u002F\u002F already satisfied?\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>) \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"comment\">\u002F\u002F safety sensors\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_open\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_close\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F direct motor control\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">direct_apply\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">apply_stopped_state\u003C\u002Fspan>()\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n\n        \u003Cspan class=\"variable\">new_dir\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">new_dir\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>\n        }\n\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F direction change - stop the motor first\u003C\u002Fspan>\n            \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">direct_apply\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">apply_stopped_state\u003C\u002Fspan>()\n        }\n\n        \u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"motor_lock_duration\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">since\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>() \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_movement_ts\"\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">since\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"variable\">new_dir\u003C\u002Fspan>) {\n            \u003Cspan class=\"comment\">\u002F\u002F wait for the motor lock to release, then retry (desired_action is kept)\u003C\u002Fspan>\n            \u003Cspan class=\"variable\">lock_ticks\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>((\u003Cspan class=\"variable\">lock_ms\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">since\u003C\u002Fspan>) \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">lock_ticks\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n                \u003Cspan class=\"variable\">lock_ticks\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n            }\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>, \u003Cspan class=\"number\">2\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">lock_ticks\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n\n        \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"variable\">new_dir\u003C\u002Fspan>)\n        \u003Cspan class=\"function\">direct_apply\u003C\u002Fspan>(\u003Cspan class=\"variable\">new_dir\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F keep pulsing through the controller cycle until the desired action is applied\u003C\u002Fspan>\n        \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F open\u002Fclose toggle - stop is not available\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"comment\">\u002F\u002F separate pulses - pick a channel that can perform the desired action\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>) \u003Cspan class=\"comment\">\u002F\u002F only an open\u002Fstop\u002Fclose channel can stop\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"variable\">ch\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">desired\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"variable\">ch\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">ch\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"function\">emit_pulse\u003C\u002Fspan>(\u003Cspan class=\"variable\">ch\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">ensure_tick\u003C\u002Fspan>() {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"tick_active\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"tick_active\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"number\">99\u003C\u002Fspan>, \u003Cspan class=\"string\">\"onTick\"\u003C\u002Fspan>) \u003Cspan class=\"comment\">\u002F\u002F 99 instead of 100 to leave room for callback scheduling\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"variable\">action\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">action\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">4\u003C\u002Fspan>) { \u003Cspan class=\"comment\">\u002F\u002F any new command cancels a pending partial-open target\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target_stop_needed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_after_close\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">action\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">process_desired\u003C\u002Fspan>()\n    }\n    \u003Cspan class=\"function\">ensure_tick\u003C\u002Fspan>()\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">reach_open_end\u003C\u002Fspan>() {\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">100.0\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">100\u003C\u002Fspan>)\n    \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">direct_apply\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"comment\">\u002F\u002F limit reached - a cycling controller continues with the closing direction\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"cycle_next\"\u003C\u002Fspan>, \u003Cspan class=\"number\">2\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"cycle_next_op\"\u003C\u002Fspan>, \u003Cspan class=\"number\">2\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"cycle_next_cl\"\u003C\u002Fspan>, \u003Cspan class=\"number\">2\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target_stop_needed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_after_close\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>)\n}\n\n\u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">reach_closed_end\u003C\u002Fspan>() {\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0.0\u003C\u002Fspan>)\n    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">direct_apply\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"comment\">\u002F\u002F limit reached - a cycling controller continues with the opening direction\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"cycle_next\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"cycle_next_op\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"cycle_next_cl\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target_stop_needed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n    \u003Cspan class=\"comment\">\u002F\u002F if a two-phase partial open was waiting for the gate to be fully closed,\u003C\u002Fspan>\n    \u003Cspan class=\"comment\">\u002F\u002F now issue the partial open pulse (PC channel interprets it as partial open)\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_after_close\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_after_close\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n        \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">4\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"keyword\">extern\u003C\u002Fspan> \u003Cspan class=\"keyword\">fn\u003C\u002Fspan> \u003Cspan class=\"function\">onTick\u003C\u002Fspan>() {\n    \u003Cspan class=\"comment\">\u002F\u002F pulse \u002F pause \u002F motor lock phases\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">phase\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">phase\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">t\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_ticks\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">t\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"function\">pulse_output_name\u003C\u002Fspan>(\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_out\"\u003C\u002Fspan>)), \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_out\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>, \u003Cspan class=\"number\">2\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"function\">ticks_for\u003C\u002Fspan>(\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_pause\"\u003C\u002Fspan>)))\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">t\u003C\u002Fspan>)\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">phase\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">t\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_ticks\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">t\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n            \u003Cspan class=\"function\">process_desired\u003C\u002Fspan>()\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">t\u003C\u002Fspan>)\n        }\n    }\n\n    \u003Cspan class=\"comment\">\u002F\u002F movement simulation; position is frozen while a stop pulse is pending\u003C\u002Fspan>\n    \u003Cspan class=\"comment\">\u002F\u002F (the gate is about to be stopped, waiting only for the pulse machinery)\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>)\n    \u003Cspan class=\"comment\">\u002F\u002F reversal dead-time: in the non-direct modes the position is held while the motor\u003C\u002Fspan>\n    \u003Cspan class=\"comment\">\u002F\u002F lock is still elapsing, because the gate cannot have changed direction yet\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">move_lock\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_lock_ticks\"\u003C\u002Fspan>)\n    \u003Cspan class=\"comment\">\u002F\u002F in sensor mode, position does not advance while the departure sensor is still\u003C\u002Fspan>\n    \u003Cspan class=\"comment\">\u002F\u002F asserted: the gate may not have physically left the limit yet (e.g. power\u003C\u002Fspan>\n    \u003Cspan class=\"comment\">\u002F\u002F failure, stalled motor) and the sensor is the authoritative source\u003C\u002Fspan>\n    \u003Cspan class=\"variable\">sensor_holds_pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">false\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"use_sensors\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_closed\"\u003C\u002Fspan>)) {\n            \u003Cspan class=\"variable\">sensor_holds_pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">true\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_open\"\u003C\u002Fspan>)) {\n            \u003Cspan class=\"variable\">sensor_holds_pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">true\u003C\u002Fspan>\n        }\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">move_lock\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"move_lock_ticks\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">move_lock\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">sensor_holds_pos\u003C\u002Fspan>) {\n        \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">+\u003C\u002Fspan> (\u003Cspan class=\"number\">100\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>) \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"opening_duration\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000.0\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> (\u003Cspan class=\"number\">100\u003C\u002Fspan> \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>) \u003Cspan class=\"operator\">\u002F\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"closing_duration\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">*\u003C\u002Fspan> \u003Cspan class=\"number\">1000.0\u003C\u002Fspan>)\n        }\n\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>) {\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"use_sensors\"\u003C\u002Fspan>)) {\n                \u003Cspan class=\"comment\">\u002F\u002F clamp for display; actual end-of-travel is confirmed by the is_open sensor\u003C\u002Fspan>\n                \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">100.0\u003C\u002Fspan>)\n                \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">100\u003C\u002Fspan>)\n                \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_movement_ts\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>())\n            } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n                \u003Cspan class=\"function\">reach_open_end\u003C\u002Fspan>()\n            }\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"use_sensors\"\u003C\u002Fspan>)) {\n                \u003Cspan class=\"comment\">\u002F\u002F clamp for display; actual end-of-travel is confirmed by the is_closed sensor\u003C\u002Fspan>\n                \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0.0\u003C\u002Fspan>)\n                \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n                \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_movement_ts\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>())\n            } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n                \u003Cspan class=\"function\">reach_closed_end\u003C\u002Fspan>()\n            }\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">arrived\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">false\u003C\u002Fspan>\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">target\u003C\u002Fspan> \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n                \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>) {\n                    \u003Cspan class=\"variable\">arrived\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">true\u003C\u002Fspan>\n                }\n                \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>) {\n                    \u003Cspan class=\"variable\">arrived\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">true\u003C\u002Fspan>\n                }\n            }\n\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">arrived\u003C\u002Fspan>) {\n                \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">target\u003C\u002Fspan>\n            }\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">pos\u003C\u002Fspan>)\n            \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">math::round\u003C\u002Fspan>(\u003Cspan class=\"variable\">pos\u003C\u002Fspan>))\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_movement_ts\"\u003C\u002Fspan>, \u003Cspan class=\"stdlib\">time::uptime\u003C\u002Fspan>())\n\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">arrived\u003C\u002Fspan>) {\n                \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n                \u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>)\n                \u003Cspan class=\"variable\">stop_needed\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target_stop_needed\"\u003C\u002Fspan>)\n                \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target_stop_needed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n                \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">stop_needed\u003C\u002Fspan>)) {\n                    \u003Cspan class=\"comment\">\u002F\u002F stop through a controller pulse;\u003C\u002Fspan>\n                    \u003Cspan class=\"comment\">\u002F\u002F the partial state is applied together with the stop pulse\u003C\u002Fspan>\n                    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">3\u003C\u002Fspan>)\n                    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n                        \u003Cspan class=\"function\">process_desired\u003C\u002Fspan>()\n                    }\n                } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n                    \u003Cspan class=\"comment\">\u002F\u002F direct stop, or the controller stops on its own (partial open mode)\u003C\u002Fspan>\n                    \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n                    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n                        \u003Cspan class=\"function\">direct_apply\u003C\u002Fspan>(\u003Cspan class=\"number\">0\u003C\u002Fspan>)\n                    }\n                    \u003Cspan class=\"function\">apply_stopped_state\u003C\u002Fspan>()\n                }\n            }\n        }\n    }\n\n    \u003Cspan class=\"comment\">\u002F\u002F keep ticking while there is anything to do\u003C\u002Fspan>\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"stdlib\">callback::set\u003C\u002Fspan>(\u003Cspan class=\"number\">99\u003C\u002Fspan>, \u003Cspan class=\"string\">\"onTick\"\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"tick_active\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">false\u003C\u002Fspan>)\n    }\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F ---- limit switches ----\u003C\u002Fspan>\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"is_open\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F The sensor is authoritative (e.g. a remote may have driven the gate here),\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F so honor it - except for contact bounce in the instant after the gate leaves\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F the open limit: that shows up as a re-assert while closing and still within a\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F small position margin of the open limit.\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">bounce\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"function\">sensor_bounce_margin\u003C\u002Fspan>()\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">bounce\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">reach_open_end\u003C\u002Fspan>()\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">>=\u003C\u002Fspan> \u003Cspan class=\"number\">100\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F gate left the open limit without a command - assume external closing\u003C\u002Fspan>\n        \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        \u003Cspan class=\"function\">ensure_tick\u003C\u002Fspan>()\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"is_closed\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F The sensor is authoritative (e.g. a remote may have driven the gate here),\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F so honor it - except for contact bounce in the instant after the gate leaves\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F the closed limit: that shows up as a re-assert while opening and still within a\u003C\u002Fspan>\n        \u003Cspan class=\"comment\">\u002F\u002F small position margin of the closed limit.\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">bounce\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>) \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"function\">sensor_bounce_margin\u003C\u002Fspan>()\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"operator\">!\u003C\u002Fspan>\u003Cspan class=\"variable\">bounce\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">reach_closed_end\u003C\u002Fspan>()\n        }\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>) \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F gate left the closed limit without a command - assume external opening\u003C\u002Fspan>\n        \u003Cspan class=\"function\">set_dir\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        \u003Cspan class=\"function\">ensure_tick\u003C\u002Fspan>()\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F ---- safety inputs ----\u003C\u002Fspan>\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"prevent_open\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"prevent_close\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan>\u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"off\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"comment\">\u002F\u002F ---- command inputs - rising edge only ----\u003C\u002Fspan>\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">value\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"boolean\">false\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"off\"\u003C\u002Fspan>)) {\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"open\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_open\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"close\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_close\"\u003C\u002Fspan>)) {\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"stop\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"toggle\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F forward directly as a hardware control pulse - the controller owns the cycle\u003C\u002Fspan>\n        \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"comment\">\u002F\u002F a cycling controller channel owns the open\u002Fstop\u002Fclose sequence\u003C\u002Fspan>\n            \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"comment\">\u002F\u002F no cycling channel - reverse while moving, otherwise alternate direction\u003C\u002Fspan>\n        \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>)\n        \u003Cspan class=\"variable\">towards_close\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">false\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">towards_close\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">true\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n            \u003Cspan class=\"variable\">towards_close\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"boolean\">true\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">towards_close\u003C\u002Fspan>) {\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_close\"\u003C\u002Fspan>)) {\n                \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n            }\n            \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>)\n        } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_open\"\u003C\u002Fspan>)) {\n                \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n            }\n            \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n        }\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n    \u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"moving_dir\"\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">d\u003C\u002Fspan> \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"last_dir\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_close\"\u003C\u002Fspan>)) {\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_open\"\u003C\u002Fspan>)) {\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\n\u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">channel\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"string\">\"partial_open\"\u003C\u002Fspan>) {\n    \u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"control_mode\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">ppos\u003C\u002Fspan> \u003Cspan class=\"operator\">=\u003C\u002Fspan> \u003Cspan class=\"variable\">config\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_open_position\"\u003C\u002Fspan>)\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">2\u003C\u002Fspan>) {\n        \u003Cspan class=\"comment\">\u002F\u002F open\u002Fclose toggle controller cannot stop mid-travel\u003C\u002Fspan>\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">mode\u003C\u002Fspan> \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">3\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">math::abs\u003C\u002Fspan>(\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>) \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n            \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">4\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"comment\">\u002F\u002F dedicated partial open channel - the controller handles it\u003C\u002Fspan>\n            \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">4\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\"><=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">or\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_closed\"\u003C\u002Fspan>)) {\n                \u003Cspan class=\"comment\">\u002F\u002F at closed position (by estimate or sensor);\u003C\u002Fspan>\n                \u003Cspan class=\"comment\">\u002F\u002F correct position estimate if sensor disagrees with it\u003C\u002Fspan>\n                \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">>\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan> \u003Cspan class=\"keyword\">and\u003C\u002Fspan> \u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"is_closed\"\u003C\u002Fspan>)) {\n                    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0.0\u003C\u002Fspan>)\n                    \u003Cspan class=\"stdlib\">output::set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"position\"\u003C\u002Fspan>, \u003Cspan class=\"number\">0\u003C\u002Fspan>)\n                }\n                \u003Cspan class=\"comment\">\u002F\u002F the PC pulse on a closed gate is interpreted as partial open\u003C\u002Fspan>\n                \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">4\u003C\u002Fspan>)\n            } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n            \u003Cspan class=\"comment\">\u002F\u002F close fully first; reach_closed_end will fire command(4) automatically\u003C\u002Fspan>\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_close\"\u003C\u002Fspan>)) {\n                \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n            }\n            \u003Cspan class=\"function\">command\u003C\u002Fspan>(\u003Cspan class=\"number\">2\u003C\u002Fspan>) \u003Cspan class=\"comment\">\u002F\u002F clears all flags, so partial_after_close must be set afterwards\u003C\u002Fspan>\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_after_close\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            }\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"function\">channel_with_function\u003C\u002Fspan>(\u003Cspan class=\"number\">3\u003C\u002Fspan>) \u003Cspan class=\"operator\">!=\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n            \u003Cspan class=\"comment\">\u002F\u002F stop at position using the open\u002Fstop\u002Fclose channel\u003C\u002Fspan>\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>) {\n                \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_open\"\u003C\u002Fspan>)) {\n                    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n                }\n                \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">1\u003C\u002Fspan>)\n            } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n                \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_close\"\u003C\u002Fspan>)) {\n                    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n                }\n                \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">2\u003C\u002Fspan>)\n            }\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target_stop_needed\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n            \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n                \u003Cspan class=\"function\">process_desired\u003C\u002Fspan>()\n            }\n            \u003Cspan class=\"function\">ensure_tick\u003C\u002Fspan>()\n        }\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">math::abs\u003C\u002Fspan>(\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\">-\u003C\u002Fspan> \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>) \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"number\">1\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">set_gate_state\u003C\u002Fspan>(\u003Cspan class=\"number\">5\u003C\u002Fspan>)\n        \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n    }\n\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">pos\u003C\u002Fspan> \u003Cspan class=\"operator\"><\u003C\u002Fspan> \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>) {\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_open\"\u003C\u002Fspan>)) {\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">1\u003C\u002Fspan>)\n    } \u003Cspan class=\"keyword\">else\u003C\u002Fspan> {\n        \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"stdlib\">input::get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"prevent_close\"\u003C\u002Fspan>)) {\n            \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n        }\n        \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"desired_action\"\u003C\u002Fspan>, \u003Cspan class=\"number\">2\u003C\u002Fspan>)\n    }\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"target\"\u003C\u002Fspan>, \u003Cspan class=\"variable\">ppos\u003C\u002Fspan>)\n    \u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">set\u003C\u002Fspan>(\u003Cspan class=\"string\">\"partial_pending\"\u003C\u002Fspan>, \u003Cspan class=\"boolean\">true\u003C\u002Fspan>)\n    \u003Cspan class=\"keyword\">if\u003C\u002Fspan> (\u003Cspan class=\"variable\">state\u003C\u002Fspan>::\u003Cspan class=\"function\">get\u003C\u002Fspan>(\u003Cspan class=\"string\">\"pulse_phase\"\u003C\u002Fspan>) \u003Cspan class=\"operator\">==\u003C\u002Fspan> \u003Cspan class=\"number\">0\u003C\u002Fspan>) {\n        \u003Cspan class=\"function\">process_desired\u003C\u002Fspan>()\n    }\n    \u003Cspan class=\"function\">ensure_tick\u003C\u002Fspan>()\n    \u003Cspan class=\"keyword\">return\u003C\u002Fspan>\n}\n\u003C\u002Fcode>\u003C\u002Fpre>\n\u003C\u002Fdiv>\n\u003C\u002Fdetails>\n",[998,1001,1004,1007,1010],{"level":81,"text":999,"id":1000},"Inputs","inputs",{"level":81,"text":1002,"id":1003},"Outputs","outputs",{"level":81,"text":1005,"id":1006},"Configuration","configuration",{"level":81,"text":1008,"id":1009},"State","state",{"level":81,"text":1011,"id":1012},"Source Code","source-code",{"block":1014,"labels":1078,"spec":1097},{"group":322,"id":367,"inputs":1015,"ioType":1055,"name":366,"outputs":1056},[1016,1019,1023,1027,1031,1035,1039,1043,1047,1051],{"abbrev":1017,"id":557,"name":556,"type":1018},"T","BOOLEAN",{"abbrev":1020,"id":1021,"name":1022,"type":1018},"O","open","Open",{"abbrev":1024,"id":1025,"name":1026,"type":1018},"C","close","Close",{"abbrev":1028,"id":1029,"name":1030,"type":1018},"S","stop","Stop",{"abbrev":1032,"id":1033,"name":1034,"type":1018},"PO","partial_open","Partial open",{"abbrev":1036,"id":1037,"name":1038,"type":1018},"IO","is_open","Is open",{"abbrev":1040,"id":1041,"name":1042,"type":1018},"IC","is_closed","Is closed",{"abbrev":1044,"id":1045,"name":1046,"type":1018},"SPO","prevent_open","Prevent opening",{"abbrev":1048,"id":1049,"name":1050,"type":1018},"SPC","prevent_close","Prevent closing",{"abbrev":1052,"id":1053,"name":1054,"type":1018},"OFF","off","Off",null,[1057,1061,1063,1065,1069,1074],{"abbrev":1058,"id":1059,"name":1060,"type":1018},"TG","control","Control pulse",{"abbrev":1062,"id":1021,"name":1022,"type":1018},"OP",{"abbrev":1064,"id":1025,"name":1026,"type":1018},"CL",{"abbrev":1066,"id":1067,"name":1068,"type":1018},"M","moving","In motion",{"abbrev":1070,"id":1071,"name":1072,"type":1073},"P","position","Position","NUMBER",{"abbrev":1075,"id":1076,"name":1077,"type":1073},"GS","gate_state","Gate state",{"config":1079,"detail":1087,"port":1092,"sections":1094,"state":1096},{"default":1080,"description":1081,"details":1082,"id":1083,"name":1084,"type":1085,"unit":1086},"Default","Description","Details","ID","Name","Type","Unit",{"required":1088,"subtype":1089,"values":1090,"visible_when":1091},"Required","Subtype","Values","Visible when",{"abbrev":1093,"default":1080,"description":1081,"id":1083,"name":1084,"type":1085},"Abbrev",{"configuration":1005,"inputs":999,"outputs":1002,"source_code":1011,"state":1008,"view_source":1095},"View Volang source",{"default":1080,"description":1081,"id":1083,"name":1084,"type":1085,"unit":1086},{"config":1098,"inputs":1206,"outputs":1228,"state":1241},[1099,1114,1124,1135,1142,1155,1166,1175,1185,1194,1201],{"default":1100,"description":1101,"details":1102,"id":1110,"name":1111,"type":1112,"unit":1113},"0","Type of the gate, used for the proper animation in client applications: Garage door, Gate (left wing), Gate (right wing), Double wing gate, Sliding gate (left), Sliding gate (right)",{"enumValues":1103},[1104,1105,1106,1107,1108,1109],"Garage door","Gate (left wing)","Gate (right wing)","Double wing gate","Sliding gate (left)","Sliding gate (right)","gate_type","Gate type","ENUM","",{"default":1100,"description":1115,"details":1116,"id":1122,"name":1123,"type":1112,"unit":1113},"How the gate is driven: direct motor control (level signals), single pulse output open\u002Fstop\u002Fclose (3F cycle), single pulse output open\u002Fclose toggle, or separate open and close pulse outputs.",{"enumValues":1117},[1118,1119,1120,1121],"Direct motor control","Single control: open\u002Fstop\u002Fclose","Single control: open\u002Fclose","Separate open and close pulses","control_mode","Control mode",{"default":1125,"description":1126,"details":1127,"id":1132,"name":1133,"type":1073,"unit":1134},"30","The time taken to fully open the gate, in seconds. Used to simulate the gate position.",{"rules":1128},[1129],{"kind":1130,"op":1131,"value":69},"compare",">","opening_duration","Opening duration","s",{"default":1125,"description":1136,"details":1137,"id":1140,"name":1141,"type":1073,"unit":1134},"The time taken to fully close the gate, in seconds. Used to simulate the gate position.",{"rules":1138},[1139],{"kind":1130,"op":1131,"value":69},"closing_duration","Closing duration",{"default":1143,"description":1144,"details":1145,"id":1152,"name":1153,"type":1073,"unit":1154},"20","Target position for the partial open command, as a percentage of fully open (0-100)",{"rules":1146},[1147,1149],{"kind":1130,"op":1148,"value":69},"≥",{"kind":1130,"op":1150,"value":1151},"≤",100,"partial_open_position","Partial open position","%",{"default":1100,"description":1156,"details":1157,"id":1164,"name":1165,"type":1112,"unit":1113},"Controller function wired to the open pulse output: Open (Ot), Close (ZA), Open\u002FClose (OZ), Open\u002FStop\u002FClose (3F), Partial open (U), Partial open\u002FClose (PC)",{"enumValues":1158,"visibleWhen":1162},[1022,1026,1159,1160,1034,1161],"Open\u002FClose","Open\u002FStop\u002FClose","Partial open\u002FClose",{"configId":1122,"values":1163},[1121],"open_output_function","Open output function",{"default":1167,"description":1168,"details":1169,"id":1173,"name":1174,"type":1112,"unit":1113},"1","Controller function wired to the close pulse output: Open (Ot), Close (ZA), Open\u002FClose (OZ), Open\u002FStop\u002FClose (3F), Partial open (U), Partial open\u002FClose (PC)",{"enumValues":1170,"visibleWhen":1171},[1022,1026,1159,1160,1034,1161],{"configId":1122,"values":1172},[1121],"close_output_function","Close output function",{"default":1176,"description":1177,"details":1178,"id":1183,"name":1184,"type":1073,"unit":1134},"0.5","Duration of pulses on the control, open and close outputs, in seconds",{"rules":1179,"visibleWhen":1181},[1180],{"kind":1130,"op":1131,"value":69},{"configId":1122,"values":1182},[1119,1120,1121],"pulse_duration","Pulse duration",{"default":1176,"description":1186,"details":1187,"id":1192,"name":1193,"type":1073,"unit":1134},"Minimal pause between two consecutive pulses, in seconds",{"rules":1188,"visibleWhen":1190},[1189],{"kind":1130,"op":1148,"value":69},{"configId":1122,"values":1191},[1119,1120,1121],"pulse_pause","Pulse pause",{"default":1176,"description":1195,"details":1196,"id":1199,"name":1200,"type":1073,"unit":1134},"Time the motor needs to reverse direction, in seconds. Protects the motor in direct mode and keeps the estimated position accurate in the other modes.",{"rules":1197},[1198],{"kind":1130,"op":1148,"value":69},"motor_lock_duration","Motor lock duration",{"default":1202,"description":1203,"details":1055,"id":1204,"name":1205,"type":1018,"unit":1113},"true","When enabled, the is_open and is_closed inputs are the authoritative source for end-of-travel events. Position is still estimated from configured durations for display. Requires sensors to be connected; disable when no sensors are used.","use_sensors","Use limit switch sensors",[1207,1210,1212,1214,1216,1218,1220,1222,1224,1226],{"abbrev":1017,"default":1208,"description":1209,"id":557,"name":556,"type":1018},"false","Single button control. With direct motor control or separate pulses it cycles open, stop, close, stop. With a single control output the pulse is forwarded to the controller which owns the cycle.",{"abbrev":1020,"default":1208,"description":1211,"id":1021,"name":1022,"type":1018},"Fully opens the gate",{"abbrev":1024,"default":1208,"description":1213,"id":1025,"name":1026,"type":1018},"Fully closes the gate",{"abbrev":1028,"default":1208,"description":1215,"id":1029,"name":1030,"type":1018},"Stops the movement. Available with direct motor control and the open\u002Fstop\u002Fclose controller mode; ignored in controller modes without a stop function.",{"abbrev":1032,"default":1208,"description":1217,"id":1033,"name":1034,"type":1018},"Moves the gate to the partial open position (e.g. pedestrian or ventilation position), according to the configured partial open mode",{"abbrev":1036,"default":1208,"description":1219,"id":1037,"name":1038,"type":1018},"Limit switch reporting the fully open position. Corrects the simulated position and detects externally triggered movement.",{"abbrev":1040,"default":1208,"description":1221,"id":1041,"name":1042,"type":1018},"Limit switch reporting the fully closed position. Corrects the simulated position and detects externally triggered movement.",{"abbrev":1044,"default":1208,"description":1223,"id":1045,"name":1046,"type":1018},"Safety sensor input. While active, opening is blocked; an ongoing opening movement is stopped if the control mode allows stopping.",{"abbrev":1048,"default":1208,"description":1225,"id":1049,"name":1050,"type":1018},"Safety sensor input, e.g. a photocell. While active, closing is blocked; an ongoing closing movement is stopped if the control mode allows stopping.",{"abbrev":1052,"default":1208,"description":1227,"id":1053,"name":1054,"type":1018},"Stops the gate when activated and blocks all commands while active",[1229,1231,1233,1235,1237,1239],{"abbrev":1058,"default":1208,"description":1230,"id":1059,"name":1060,"type":1018},"Pulse output for single control input controllers (open\u002Fstop\u002Fclose or open\u002Fclose cycle)",{"abbrev":1062,"default":1208,"description":1232,"id":1021,"name":1022,"type":1018},"With direct motor control: level signal driving the motor in the opening direction. With separate pulses: open pulse for the controller.",{"abbrev":1064,"default":1208,"description":1234,"id":1025,"name":1026,"type":1018},"With direct motor control: level signal driving the motor in the closing direction. With separate pulses: close pulse for the controller.",{"abbrev":1066,"default":1208,"description":1236,"id":1067,"name":1068,"type":1018},"Active while the gate is moving",{"abbrev":1070,"default":1100,"description":1238,"id":1071,"name":1072,"type":1073},"Current gate position as a percentage (0=fully closed, 100=fully open)",{"abbrev":1075,"default":1100,"description":1240,"id":1076,"name":1077,"type":1073},"Current gate state: 0=closed, 1=opening, 2=open, 3=closing, 4=stopped midway, 5=partially open",[1242,1245,1249,1254,1258,1262,1266,1270,1274,1278,1282,1286,1290,1294,1298,1302,1306],{"default":1243,"description":1244,"id":1071,"name":1072,"type":1073,"unit":1154},"0.0","Raw value of the simulated gate position as a percentage (0-100), not rounded",{"default":1100,"description":1246,"id":1247,"name":1248,"type":1073,"unit":1113},"Current movement direction: 0=stopped, 1=opening, -1=closing","moving_dir","Moving direction",{"default":1250,"description":1251,"id":1252,"name":1253,"type":1073,"unit":1113},"-1","Direction of the last movement: 1=opening, -1=closing","last_dir","Last direction",{"default":1250,"description":1255,"id":1256,"name":1257,"type":1073,"unit":1154},"Target position for the current movement as a percentage, or -1 when moving to an end position","target","Target position",{"default":1208,"description":1259,"id":1260,"name":1261,"type":1018,"unit":1113},"Indicates that the current movement was started by a partial open command","partial_pending","Partial open pending",{"default":1100,"description":1263,"id":1264,"name":1265,"type":1073,"unit":1113},"Pending action to perform: 0=none, 1=open, 2=close, 3=stop, 4=partial open via controller, 5=raw control pulse","desired_action","Desired action",{"default":1100,"description":1267,"id":1268,"name":1269,"type":1073,"unit":1113},"Tracks the open\u002Fstop\u002Fclose\u002Fstop cycle of an external controller behind the control output: action the next pulse will trigger (0=open, 1=stop, 2=close, 3=stop)","cycle_next","Controller cycle position",{"default":1100,"description":1271,"id":1272,"name":1273,"type":1073,"unit":1113},"Tracks the open\u002Fstop\u002Fclose\u002Fstop cycle of a controller channel behind the open pulse output","cycle_next_op","Controller cycle position (open output)",{"default":1100,"description":1275,"id":1276,"name":1277,"type":1073,"unit":1113},"Tracks the open\u002Fstop\u002Fclose\u002Fstop cycle of a controller channel behind the close pulse output","cycle_next_cl","Controller cycle position (close output)",{"default":1208,"description":1279,"id":1280,"name":1281,"type":1018,"unit":1113},"Indicates that reaching the target position requires sending a stop pulse to the controller","target_stop_needed","Stop needed at target",{"default":1208,"description":1283,"id":1284,"name":1285,"type":1018,"unit":1113},"Indicates that a partial open command is waiting for the gate to reach fully closed before issuing the controller pulse","partial_after_close","Partial open pending after close",{"default":1100,"description":1287,"id":1288,"name":1289,"type":1073,"unit":1113},"Output currently emitting a pulse: 0=none, 1=control, 2=open, 3=close","pulse_out","Active pulse output",{"default":1100,"description":1291,"id":1292,"name":1293,"type":1073,"unit":1113},"Phase of the pulse machinery: 0=idle, 1=pulse high, 2=pause or motor lock wait","pulse_phase","Pulse phase",{"default":1100,"description":1295,"id":1296,"name":1297,"type":1073,"unit":1113},"Ticks remaining in the current pulse phase","pulse_ticks","Pulse ticks",{"default":1100,"description":1299,"id":1300,"name":1301,"type":1073,"unit":1113},"Ticks the simulated position is held after a reversal while the motor lock elapses (non-direct modes)","move_lock_ticks","Movement lock ticks",{"default":1208,"description":1303,"id":1304,"name":1305,"type":1018,"unit":1113},"Indicates whether the periodic simulation callback is scheduled","tick_active","Tick active",{"default":1307,"description":1308,"id":1309,"name":1310,"type":1073,"unit":1311},"-60000","Timestamp of the last movement, used for the motor lock pause on direction change","last_movement_ts","Last movement timestamp","milliseconds",1781697084902]