From 94014927d7e5b28e0c13af20eba4ada618a988f2 Mon Sep 17 00:00:00 2001
From: Michal Sojka <sojkam1@fel.cvut.cz>
Date: Sat, 25 Apr 2009 06:24:34 +0200
Subject: [PATCH] lift: added pusher endswitch histeresis

---
 src/eb_lift_09/main.c | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/src/eb_lift_09/main.c b/src/eb_lift_09/main.c
index 823590ca..397fe818 100644
--- a/src/eb_lift_09/main.c
+++ b/src/eb_lift_09/main.c
@@ -299,7 +299,20 @@ int main(void){
 
 		    fsm_lift.switch_front = (0 != (IO1PIN & (1<<LIFT_FRONT_SWITCH)));
 		    fsm_lift.switch_back  = (0 != (IO1PIN & (1<<LIFT_BACK_SWITCH)));
-		    fsm_pusher.switch_front = (0 != (IO1PIN & (1<<PUSHER_FRONT_SWITCH)));
+		    {
+			    static int counter = 0;
+			    /* Histereze koncaku */
+			    if (0 != (IO1PIN & (1<<PUSHER_FRONT_SWITCH))) counter++;
+			    else counter--;
+			    if (counter > 10) {
+				    counter=10;
+				    fsm_pusher.switch_front = true;
+			    }
+			    if (counter < 0) {
+				    fsm_pusher.switch_front = false;
+				    counter = 0;
+			    }
+		    }
 		    fsm_pusher.switch_back  = (0 != (IO1PIN & (1<<PUSHER_BACK_SWITCH)));
 
 		    if (fsm_lift.switch_front) can_flags |= LIFT_LIFT_ENDSW_UP;
-- 
2.39.2