Merged i2c-helper in Main

stone-dispencer-control/firmware-stone-dispencer/include/headSystem.hpp

@@ -0,0 +1,40 @@
+#pragma once
+#include "pinConfigNode.hpp"
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "semphr.h"
+
+enum STONE_STATE {
+    EMPTY = 0b00, FULL = 0b10, LOW = 0b01
+};
+
+void vHeadTaskFn(void *pvParameters);
+
+class HeadSystem {
+private:
+    unsigned int motor_chopper1_slice_num;
+    unsigned int motor_chopper2_slice_num;
+    unsigned int motor_z_axis_slice_num;
+
+    bool headUp = false;
+
+    STONE_STATE stoneState;
+    xQueueHandle headStateQueue;
+    xSemaphoreHandle headSateSemaphore;
+    xTaskHandle headTaskHandle;
+
+public:
+    HeadSystem();
+
+    void initPins();
+
+    void setChopper(bool open1, bool open2);
+    void setHeadUp(bool up);
+
+    bool preLoad();
+    STONE_STATE dropStone();
+    
+    STONE_STATE dropSequence();
+
+    void vHeadTask();  
+};