Hacks to make it work

SW/Controller.cpp

@@ -48,7 +48,7 @@ Controller::Controller(): servo(&DDRB, PB1, &OCR1A, blue_servo_data),
     //ADC ini
     DDRC = 0;
     PORTC = 0;
-    ADMUX  = /*(1<<REFS1) | */(1<<REFS0);
+    ADMUX  = (1<<REFS1) | (1<<REFS0);
     ADCSRA = (1<<ADEN) | (1<<ADIE) | (1<<ADPS2) | (1<<ADPS1) | (1<<ADPS0);
     //adc.set_reference_voltage(adc.INTERNAL_REFERENCE);  //2.56V
     //adc.set_prescaler(adc.PRESCALER_128);               //115kHz
@@ -69,7 +69,7 @@ Controller::Controller(): servo(&DDRB, PB1, &OCR1A, blue_servo_data),
 
     sei();
 
-    servo.set_angle(OPEN_POSITION);
+    servo.set_angle(CLOSE_POSITION);
 }
 
 void Controller::gate_handler()
@@ -118,15 +118,15 @@ void Controller::opening_piston()
 
 void Controller::waiting_for_closing_current()
 {
-    if (current_positive > ON_TRESHOLD)
+    if ((current_negative > ON_TRESHOLD) && (current_negative < 1020))
     {
-        gate_mode = WAITING_FOR_CURRENT_REVERSATION;
+        gate_mode = WAITING_FOR_CURRENT_DROP;
     }
 }
 
 void Controller::waiting_for_current_reversation()
 {
-    if (current_negative > ON_TRESHOLD)
+    if (current_positive > ON_TRESHOLD)
     {
         gate_mode = WAITING_FOR_CURRENT_DROP;
     }

SW/Controller.h

@@ -18,8 +18,8 @@ class Controller
 
         enum current_tresholds
         {
-            OFF_TRESHOLD = 200,
-            ON_TRESHOLD  = 500
+            OFF_TRESHOLD = 20,
+            ON_TRESHOLD  = 300
         };
 
         enum stabilization_tresholds

SW/main.cpp

@@ -13,10 +13,11 @@ int main()
 
     for(;;)
     {
-        controller.gate_handler();
 
-        if (controller.debug_delay >= 75)   //3Hz
+
+        if (controller.debug_delay >= 55)   //3Hz
         {
+            controller.gate_handler();
             controller.print_debug();
             controller.debug_delay = 0;
         }