#include "cylinders.h"
#include "io.h"


void msleep(int msec) {
  usleep(msec * 1000);
}


// Sequential Order of HV1-21 floor pieces lifting with a half second delay between each
void riffle_vertical(void) {
  int i;

  for (i = 0; i<20; i++) {
    // pulse cylinder i
    msleep(100);
    set_vcyl(i, 1);
    msleep(500);
    set_vcyl(i, 0);
    msleep(100);
    set_vcyl(i, -1);
    msleep(500);
    set_vcyl(i, 0);
  }
}


void test_others(void) {
  horiz(1);
  msleep(500);
  horiz(0);
  msleep(100);
  horiz(-1);
  msleep(500);
  horiz(0);
  msleep(100);

  pump_on();
  msleep(500);
  pump_off();
  msleep(500);

  power_on();
  msleep(500);
  power_off();
  msleep(500);
}


void group1(int x, int y, int z) {
  set_vcyl(6, 1); set_vcyl(7, 1); set_vcyl(8, 1); set_vcyl(9, 1); set_vcyl(10, 1); set_vcyl(11, 1); set_vcyl(12, 1);
  msleep(y);
  set_vcyl(6, 0); set_vcyl(7, 0); set_vcyl(8, 0); set_vcyl(9, 0); set_vcyl(10, 0); set_vcyl(11, 0); set_vcyl(12, 0);
  msleep(x);
}

  


int main(int argc, char *argv[]) {
  setup_io();
  
  riffle_vertical();
  test_others();
  group1(100, 200, 300);
  group1(200, 400, 600);

  close_io();
}