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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":1011},"Poznaj działanie bloku logicznego Gate - zasada działania, opcje konfiguracji i przykłady zastosowań w Voldeno.",[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\">Przetwarzanie\u003C\u002Fspan>\n\u003C\u002Fdiv>\n\n\u003Cp class=\"block-description\">Steruje bramami i bramami garażowymi, bezpośrednio lub przez zewnętrzny sterownik bramy\u003C\u002Fp>\n\u003C!-- BLOCK_DIAGRAM -->\n\u003Ch2 id=\"source-code\">\u003Ca href=\"#source-code\" class=\"anchor\">#\u003C\u002Fa> Kod źródłowy\u003C\u002Fh2>\n\u003Cdetails class=\"code-details\">\u003Csummary>Pokaż kod Volang\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",[998,1000,1002,1005,1008],{"level":81,"text":724,"id":999},"inputs",{"level":81,"text":846,"id":1001},"outputs",{"level":81,"text":1003,"id":1004},"Konfiguracja","configuration",{"level":81,"text":1006,"id":1007},"Stan","state",{"level":81,"text":1009,"id":1010},"Kod źródłowy","source-code",{"block":1012,"labels":1079,"spec":1098},{"group":322,"id":367,"inputs":1013,"ioType":1054,"name":366,"outputs":1055},[1014,1018,1022,1026,1030,1034,1038,1042,1046,1050],{"abbrev":1015,"id":557,"name":1016,"type":1017},"T","Przełącz","BOOLEAN",{"abbrev":1019,"id":1020,"name":1021,"type":1017},"O","open","Otwórz",{"abbrev":1023,"id":1024,"name":1025,"type":1017},"C","close","Zamknij",{"abbrev":1027,"id":1028,"name":1029,"type":1017},"S","stop","Stop",{"abbrev":1031,"id":1032,"name":1033,"type":1017},"PO","partial_open","Uchyl",{"abbrev":1035,"id":1036,"name":1037,"type":1017},"IO","is_open","Otwarta",{"abbrev":1039,"id":1040,"name":1041,"type":1017},"IC","is_closed","Zamknięta",{"abbrev":1043,"id":1044,"name":1045,"type":1017},"SPO","prevent_open","Blokada otwierania",{"abbrev":1047,"id":1048,"name":1049,"type":1017},"SPC","prevent_close","Blokada zamykania",{"abbrev":1051,"id":1052,"name":1053,"type":1017},"OFF","off","Wyłącz",null,[1056,1060,1063,1066,1070,1075],{"abbrev":1057,"id":1058,"name":1059,"type":1017},"TG","control","Impuls sterujący",{"abbrev":1061,"id":1020,"name":1062,"type":1017},"OP","Otwieranie",{"abbrev":1064,"id":1024,"name":1065,"type":1017},"CL","Zamykanie",{"abbrev":1067,"id":1068,"name":1069,"type":1017},"M","moving","W ruchu",{"abbrev":1071,"id":1072,"name":1073,"type":1074},"P","position","Pozycja","NUMBER",{"abbrev":1076,"id":1077,"name":1078,"type":1074},"GS","gate_state","Stan bramy",{"config":1080,"detail":1088,"port":1093,"sections":1095,"state":1097},{"default":1081,"description":1082,"details":1083,"id":1084,"name":1085,"type":1086,"unit":1087},"Domyślnie","Opis","Szczegóły","ID","Nazwa","Typ","Jednostka",{"required":1089,"subtype":1090,"values":1091,"visible_when":1092},"Wymagane","Podtyp","Wartości","Widoczne gdy",{"abbrev":1094,"default":1081,"description":1082,"id":1084,"name":1085,"type":1086},"Skrót",{"configuration":1003,"inputs":724,"outputs":846,"source_code":1009,"state":1006,"view_source":1096},"Pokaż kod Volang",{"default":1081,"description":1082,"id":1084,"name":1085,"type":1086,"unit":1087},{"config":1099,"inputs":1210,"outputs":1232,"state":1245},[1100,1115,1125,1136,1143,1156,1170,1179,1189,1198,1205],{"default":1101,"description":1102,"details":1103,"id":1111,"name":1112,"type":1113,"unit":1114},"0","Typ bramy, używany do właściwej animacji w aplikacjach klienckich: Brama garażowa, Brama (lewe skrzydło), Brama (prawe skrzydło), Brama dwuskrzydłowa, Brama przesuwna (w lewo), Brama przesuwna (w prawo)",{"enumValues":1104},[1105,1106,1107,1108,1109,1110],"Garage door","Gate (left wing)","Gate (right wing)","Double wing gate","Sliding gate (left)","Sliding gate (right)","gate_type","Typ bramy","ENUM","",{"default":1101,"description":1116,"details":1117,"id":1123,"name":1124,"type":1113,"unit":1114},"Sposób sterowania bramą: bezpośredni (sygnały poziomu), pojedyncze wyjście impulsowe otwórz\u002Fstop\u002Fzamknij (3F), pojedyncze wyjście impulsowe otwórz\u002Fzamknij, lub oddzielne impulsy otwierania i zamykania.",{"enumValues":1118},[1119,1120,1121,1122],"Direct motor control","Single control: open\u002Fstop\u002Fclose","Single control: open\u002Fclose","Separate open and close pulses","control_mode","Tryb sterowania",{"default":1126,"description":1127,"details":1128,"id":1133,"name":1134,"type":1074,"unit":1135},"30","Czas potrzebny do pełnego otwarcia bramy, w sekundach. Używany do symulacji pozycji bramy.",{"rules":1129},[1130],{"kind":1131,"op":1132,"value":69},"compare",">","opening_duration","Czas otwierania","s",{"default":1126,"description":1137,"details":1138,"id":1141,"name":1142,"type":1074,"unit":1135},"Czas potrzebny do pełnego zamknięcia bramy, w sekundach. Używany do symulacji pozycji bramy.",{"rules":1139},[1140],{"kind":1131,"op":1132,"value":69},"closing_duration","Czas zamykania",{"default":1144,"description":1145,"details":1146,"id":1153,"name":1154,"type":1074,"unit":1155},"20","Pozycja docelowa polecenia uchylenia, jako procent pełnego otwarcia (0-100)",{"rules":1147},[1148,1150],{"kind":1131,"op":1149,"value":69},"≥",{"kind":1131,"op":1151,"value":1152},"≤",100,"partial_open_position","Pozycja uchylenia","%",{"default":1101,"description":1157,"details":1158,"id":1168,"name":1169,"type":1113,"unit":1114},"Funkcja sterownika podłączona do wyjścia impulsu otwierania: Otwórz (Ot), Zamknij (ZA), Otwórz\u002FZamknij (OZ), Otwórz\u002FStop\u002FZamknij (3F), Uchyl (U), Uchyl\u002FZamknij (PC)",{"enumValues":1159,"visibleWhen":1166},[1160,1161,1162,1163,1164,1165],"Open","Close","Open\u002FClose","Open\u002FStop\u002FClose","Partial open","Partial open\u002FClose",{"configId":1123,"values":1167},[1122],"open_output_function","Funkcja wyjścia otwierania",{"default":1171,"description":1172,"details":1173,"id":1177,"name":1178,"type":1113,"unit":1114},"1","Funkcja sterownika podłączona do wyjścia impulsu zamykania: Otwórz (Ot), Zamknij (ZA), Otwórz\u002FZamknij (OZ), Otwórz\u002FStop\u002FZamknij (3F), Uchyl (U), Uchyl\u002FZamknij (PC)",{"enumValues":1174,"visibleWhen":1175},[1160,1161,1162,1163,1164,1165],{"configId":1123,"values":1176},[1122],"close_output_function","Funkcja wyjścia zamykania",{"default":1180,"description":1181,"details":1182,"id":1187,"name":1188,"type":1074,"unit":1135},"0.5","Czas trwania impulsów na wyjściach sterujących, otwierania i zamykania, w sekundach",{"rules":1183,"visibleWhen":1185},[1184],{"kind":1131,"op":1132,"value":69},{"configId":1123,"values":1186},[1120,1121,1122],"pulse_duration","Czas trwania impulsu",{"default":1180,"description":1190,"details":1191,"id":1196,"name":1197,"type":1074,"unit":1135},"Minimalna przerwa między dwoma kolejnymi impulsami, w sekundach",{"rules":1192,"visibleWhen":1194},[1193],{"kind":1131,"op":1149,"value":69},{"configId":1123,"values":1195},[1120,1121,1122],"pulse_pause","Przerwa między impulsami",{"default":1180,"description":1199,"details":1200,"id":1203,"name":1204,"type":1074,"unit":1135},"Czas potrzebny silnikowi na zmianę kierunku, w sekundach. W trybie bezpośrednim chroni silnik, a w pozostałych trybach utrzymuje dokładność szacowanej pozycji.",{"rules":1201},[1202],{"kind":1131,"op":1149,"value":69},"motor_lock_duration","Czas blokady silnika",{"default":1206,"description":1207,"details":1054,"id":1208,"name":1209,"type":1017,"unit":1114},"true","Gdy włączone, wejścia is_open i is_closed są wiodącym źródłem informacji o pozycji krańcowej. Pozycja jest nadal szacowana z czasów konfiguracji na potrzeby wyświetlania. Wyłącz, gdy brak podłączonych czujników.","use_sensors","Używaj czujników krańcowych",[1211,1214,1216,1218,1220,1222,1224,1226,1228,1230],{"abbrev":1015,"default":1212,"description":1213,"id":557,"name":1016,"type":1017},"false","Sterowanie jednym przyciskiem. Przy sterowaniu bezpośrednim lub oddzielnych impulsach przełącza cyklicznie: otwórz, stop, zamknij, stop. Przy pojedynczym wyjściu sterującym impuls jest przekazywany do sterownika, który sam zarządza cyklem.",{"abbrev":1019,"default":1212,"description":1215,"id":1020,"name":1021,"type":1017},"Całkowicie otwiera bramę",{"abbrev":1023,"default":1212,"description":1217,"id":1024,"name":1025,"type":1017},"Całkowicie zamyka bramę",{"abbrev":1027,"default":1212,"description":1219,"id":1028,"name":1029,"type":1017},"Zatrzymuje ruch. Dostępne przy sterowaniu bezpośrednim i trybie sterownika otwórz\u002Fstop\u002Fzamknij; ignorowane w trybach sterownika bez funkcji stop.",{"abbrev":1031,"default":1212,"description":1221,"id":1032,"name":1033,"type":1017},"Przesuwa bramę do pozycji częściowego otwarcia (np. furtka lub wietrzenie), zgodnie ze skonfigurowanym trybem uchylania",{"abbrev":1035,"default":1212,"description":1223,"id":1036,"name":1037,"type":1017},"Wyłącznik krańcowy zgłaszający pozycję pełnego otwarcia. Koryguje symulowaną pozycję i wykrywa ruch wywołany zewnętrznie.",{"abbrev":1039,"default":1212,"description":1225,"id":1040,"name":1041,"type":1017},"Wyłącznik krańcowy zgłaszający pozycję pełnego zamknięcia. Koryguje symulowaną pozycję i wykrywa ruch wywołany zewnętrznie.",{"abbrev":1043,"default":1212,"description":1227,"id":1044,"name":1045,"type":1017},"Wejście czujnika bezpieczeństwa. Gdy aktywne, otwieranie jest zablokowane; trwający ruch otwierania jest zatrzymywany, jeśli tryb sterowania pozwala na zatrzymanie.",{"abbrev":1047,"default":1212,"description":1229,"id":1048,"name":1049,"type":1017},"Wejście czujnika bezpieczeństwa, np. fotokomórki. Gdy aktywne, zamykanie jest zablokowane; trwający ruch zamykania jest zatrzymywany, jeśli tryb sterowania pozwala na zatrzymanie.",{"abbrev":1051,"default":1212,"description":1231,"id":1052,"name":1053,"type":1017},"Zatrzymuje bramę przy aktywacji i blokuje wszystkie polecenia, gdy aktywne",[1233,1235,1237,1239,1241,1243],{"abbrev":1057,"default":1212,"description":1234,"id":1058,"name":1059,"type":1017},"Wyjście impulsowe dla sterowników z pojedynczym wejściem sterującym (cykl otwórz\u002Fstop\u002Fzamknij lub otwórz\u002Fzamknij)",{"abbrev":1061,"default":1212,"description":1236,"id":1020,"name":1062,"type":1017},"Przy sterowaniu bezpośrednim: sygnał poziomu sterujący silnikiem w kierunku otwierania. Przy oddzielnych impulsach: impuls otwarcia dla sterownika.",{"abbrev":1064,"default":1212,"description":1238,"id":1024,"name":1065,"type":1017},"Przy sterowaniu bezpośrednim: sygnał poziomu sterujący silnikiem w kierunku zamykania. Przy oddzielnych impulsach: impuls zamknięcia dla sterownika.",{"abbrev":1067,"default":1212,"description":1240,"id":1068,"name":1069,"type":1017},"Aktywne podczas ruchu bramy",{"abbrev":1071,"default":1101,"description":1242,"id":1072,"name":1073,"type":1074},"Bieżąca pozycja bramy jako procent (0=zamknięta, 100=otwarta)",{"abbrev":1076,"default":1101,"description":1244,"id":1077,"name":1078,"type":1074},"Bieżący stan bramy: 0=zamknięta, 1=otwieranie, 2=otwarta, 3=zamykanie, 4=zatrzymana w trakcie, 5=uchylona",[1246,1249,1253,1258,1262,1266,1270,1274,1278,1282,1286,1290,1294,1298,1302,1306,1310],{"default":1247,"description":1248,"id":1072,"name":1073,"type":1074,"unit":1155},"0.0","Surowa wartość symulowanej pozycji bramy jako procent (0-100)",{"default":1101,"description":1250,"id":1251,"name":1252,"type":1074,"unit":1114},"Bieżący kierunek ruchu: 0=zatrzymana, 1=otwieranie, -1=zamykanie","moving_dir","Kierunek ruchu",{"default":1254,"description":1255,"id":1256,"name":1257,"type":1074,"unit":1114},"-1","Kierunek ostatniego ruchu: 1=otwieranie, -1=zamykanie","last_dir","Ostatni kierunek",{"default":1254,"description":1259,"id":1260,"name":1261,"type":1074,"unit":1155},"Pozycja docelowa bieżącego ruchu jako procent lub -1 przy ruchu do pozycji krańcowej","target","Pozycja docelowa",{"default":1212,"description":1263,"id":1264,"name":1265,"type":1017,"unit":1114},"Wskazuje, że bieżący ruch został rozpoczęty poleceniem uchylenia","partial_pending","Oczekujące uchylenie",{"default":1101,"description":1267,"id":1268,"name":1269,"type":1074,"unit":1114},"Oczekująca akcja do wykonania: 0=brak, 1=otwórz, 2=zamknij, 3=stop, 4=uchylenie przez sterownik, 5=surowy impuls sterujący","desired_action","Żądana akcja",{"default":1101,"description":1271,"id":1272,"name":1273,"type":1074,"unit":1114},"Śledzi cykl otwórz\u002Fstop\u002Fzamknij\u002Fstop sterownika za wyjściem sterującym: akcja wywołana następnym impulsem (0=otwórz, 1=stop, 2=zamknij, 3=stop)","cycle_next","Pozycja cyklu sterownika",{"default":1101,"description":1275,"id":1276,"name":1277,"type":1074,"unit":1114},"Śledzi cykl otwórz\u002Fstop\u002Fzamknij\u002Fstop kanału sterownika za wyjściem impulsu otwierania","cycle_next_op","Pozycja cyklu (wyjście otwierania)",{"default":1101,"description":1279,"id":1280,"name":1281,"type":1074,"unit":1114},"Śledzi cykl otwórz\u002Fstop\u002Fzamknij\u002Fstop kanału sterownika za wyjściem impulsu zamykania","cycle_next_cl","Pozycja cyklu (wyjście zamykania)",{"default":1212,"description":1283,"id":1284,"name":1285,"type":1017,"unit":1114},"Wskazuje, że osiągnięcie pozycji docelowej wymaga wysłania impulsu stop do sterownika","target_stop_needed","Wymagany stop na pozycji docelowej",{"default":1212,"description":1287,"id":1288,"name":1289,"type":1017,"unit":1114},"Wskazuje, że polecenie uchylenia oczekuje na pełne zamknięcie bramy przed wysłaniem impulsu do sterownika","partial_after_close","Uchylenie oczekuje na zamknięcie",{"default":1101,"description":1291,"id":1292,"name":1293,"type":1074,"unit":1114},"Wyjście aktualnie emitujące impuls: 0=brak, 1=sterujące, 2=otwieranie, 3=zamykanie","pulse_out","Aktywne wyjście impulsowe",{"default":1101,"description":1295,"id":1296,"name":1297,"type":1074,"unit":1114},"Faza mechanizmu impulsów: 0=bezczynny, 1=impuls aktywny, 2=przerwa lub oczekiwanie blokady silnika","pulse_phase","Faza impulsu",{"default":1101,"description":1299,"id":1300,"name":1301,"type":1074,"unit":1114},"Liczba taktów pozostałych w bieżącej fazie impulsu","pulse_ticks","Pozostałe takty impulsu",{"default":1101,"description":1303,"id":1304,"name":1305,"type":1074,"unit":1114},"Liczba taktów, przez które szacowana pozycja jest wstrzymana po zmianie kierunku, gdy trwa blokada silnika (tryby pośrednie)","move_lock_ticks","Takty blokady ruchu",{"default":1212,"description":1307,"id":1308,"name":1309,"type":1017,"unit":1114},"Wskazuje, czy okresowe wywołanie symulacji jest zaplanowane","tick_active","Aktywny takt",{"default":1311,"description":1312,"id":1313,"name":1314,"type":1074,"unit":1315},"-60000","Znacznik czasu ostatniego ruchu, używany do pauzy blokady silnika przy zmianie kierunku","last_movement_ts","Znacznik czasu ostatniego ruchu","milliseconds",1781697074429]