{
  "type": "translation_unit",
  "children": [
    {
      "type": "preproc_ifdef",
      "children": [
        {
          "type": "#ifndef",
          "text": "#ifndef"
        },
        {
          "type": "identifier",
          "text": "PLUNGER_H"
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "PLUNGER_H"
            }
          ]
        },
        {
          "type": "preproc_include",
          "children": [
            {
              "type": "#include",
              "text": "#include"
            },
            {
              "type": "string_literal",
              "children": [
                {
                  "type": "\"",
                  "text": "\""
                },
                {
                  "type": "string_content",
                  "text": "config.h"
                },
                {
                  "type": "\"",
                  "text": "\""
                }
              ]
            }
          ]
        },
        {
          "type": "preproc_include",
          "children": [
            {
              "type": "#include",
              "text": "#include"
            },
            {
              "type": "system_lib_string",
              "text": "<Component.h>"
            }
          ]
        },
        {
          "type": "preproc_include",
          "children": [
            {
              "type": "#include",
              "text": "#include"
            },
            {
              "type": "system_lib_string",
              "text": "<ArduinoLog.h>"
            }
          ]
        },
        {
          "type": "preproc_include",
          "children": [
            {
              "type": "#include",
              "text": "#include"
            },
            {
              "type": "string_literal",
              "children": [
                {
                  "type": "\"",
                  "text": "\""
                },
                {
                  "type": "string_content",
                  "text": "./SAKO_VFD.h"
                },
                {
                  "type": "\"",
                  "text": "\""
                }
              ]
            }
          ]
        },
        {
          "type": "preproc_include",
          "children": [
            {
              "type": "#include",
              "text": "#include"
            },
            {
              "type": "string_literal",
              "children": [
                {
                  "type": "\"",
                  "text": "\""
                },
                {
                  "type": "string_content",
                  "text": "./3PosAnalog.h"
                },
                {
                  "type": "\"",
                  "text": "\""
                }
              ]
            }
          ]
        },
        {
          "type": "preproc_include",
          "children": [
            {
              "type": "#include",
              "text": "#include"
            },
            {
              "type": "string_literal",
              "children": [
                {
                  "type": "\"",
                  "text": "\""
                },
                {
                  "type": "string_content",
                  "text": "./POT.h"
                },
                {
                  "type": "\"",
                  "text": "\""
                }
              ]
            }
          ]
        },
        {
          "type": "preproc_include",
          "children": [
            {
              "type": "#include",
              "text": "#include"
            },
            {
              "type": "string_literal",
              "children": [
                {
                  "type": "\"",
                  "text": "\""
                },
                {
                  "type": "string_content",
                  "text": "enums.h"
                },
                {
                  "type": "\"",
                  "text": "\""
                }
              ]
            }
          ]
        },
        {
          "type": "preproc_include",
          "children": [
            {
              "type": "#include",
              "text": "#include"
            },
            {
              "type": "system_lib_string",
              "text": "<modbus/ModbusTCP.h>"
            }
          ]
        },
        {
          "type": "comment",
          "text": "// Component Constants\r"
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_COMPONENT_ID"
            },
            {
              "type": "preproc_arg",
              "text": "760\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_COMPONENT_NAME"
            },
            {
              "type": "preproc_arg",
              "text": "\"Extruder\"\r"
            }
          ]
        },
        {
          "type": "comment",
          "text": "// Speed Presets (in 0.01 Hz units for SAKO_VFD)\r"
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_SPEED_SLOW_HZ"
            },
            {
              "type": "preproc_arg",
              "text": "10  // 10.00 Hz\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_SPEED_MEDIUM_HZ"
            },
            {
              "type": "preproc_arg",
              "text": "25 // 25.00 Hz\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_SPEED_FAST_HZ"
            },
            {
              "type": "preproc_arg",
              "text": "50  // 50.00 Hz (currently unused, but defined)\r"
            }
          ]
        },
        {
          "type": "comment",
          "text": "// Speed POT Configuration for Extruding (multiplier for MEDIUM speed)\r"
        },
        {
          "type": "comment",
          "text": "// POT value 0-100. Example: 0 maps to 0.5x, 50 maps to 1.0x, 100 maps to 1.5x MEDIUM speed.\r"
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_SPEED_POT_MIN_MULTIPLIER"
            },
            {
              "type": "preproc_arg",
              "text": "0.5f\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_SPEED_POT_MAX_MULTIPLIER"
            },
            {
              "type": "preproc_arg",
              "text": "1.5f\r"
            }
          ]
        },
        {
          "type": "comment",
          "text": "// Overload POT Configuration and Jamming (using VFD Torque %)\r"
        },
        {
          "type": "comment",
          "text": "// POT value 0-100. Maps to a torque threshold in percent (0-100).\r"
        },
        {
          "type": "comment",
          "text": "// SAKO_VFD component now provides getTorque() returning 0-100.\r"
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_OVERLOAD_POT_MIN_TORQUE_PERCENT"
            },
            {
              "type": "preproc_arg",
              "text": "50  // Example: 50% Torque\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_OVERLOAD_POT_MAX_TORQUE_PERCENT"
            },
            {
              "type": "preproc_arg",
              "text": "95  // Example: 95% Torque\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "PLUNGER_JAMMED_DURATION_MS"
            },
            {
              "type": "preproc_arg",
              "text": "2000 // Time torque must be above threshold to be JAMMED\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_VFD_READ_INTERVAL_MS"
            },
            {
              "type": "preproc_arg",
              "text": "200 // How often to check VFD torque for jamming\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_AUTO_MODE_HOLD_DURATION_MS"
            },
            {
              "type": "preproc_arg",
              "text": "2000 // Time joystick must be held for auto mode\r"
            }
          ]
        },
        {
          "type": "comment",
          "text": "// Modbus Configuration\r"
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_MB_BASE_ADDRESS"
            },
            {
              "type": "preproc_arg",
              "text": "EXTRUDER_COMPONENT_ID // Using component ID as base\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_MB_STATE_OFFSET"
            },
            {
              "type": "preproc_arg",
              "text": "0\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_MB_COMMAND_OFFSET"
            },
            {
              "type": "preproc_arg",
              "text": "1\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
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            {
              "type": "identifier",
              "text": "EXTRUDER_MB_BLOCK_COUNT"
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            {
              "type": "preproc_arg",
              "text": "2\r"
            }
          ]
        },
        {
          "type": "preproc_def",
          "children": [
            {
              "type": "#define",
              "text": "#define"
            },
            {
              "type": "identifier",
              "text": "EXTRUDER_MAX_RUN_TIME_MEDIUM_SPEED_MS"
            },
            {
              "type": "preproc_arg",
              "text": "15000 // Max runtime at medium speed\r"
            }
          ]
        },
        {
          "type": "enum_specifier",
          "children": [
            {
              "type": "enum",
              "text": "enum"
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            {
              "type": "class",
              "text": "class"
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            {
              "type": "type_identifier",
              "text": "ExtruderModbusCommand"
            },
            {
              "type": ":",
              "text": ":"
            },
            {
              "type": "sized_type_specifier",
              "children": [
                {
                  "type": "short",
                  "text": "short"
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              ]
            },
            {
              "type": "enumerator_list",
              "children": [
                {
                  "type": "{",
                  "text": "{"
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "NO_COMMAND"
                    },
                    {
                      "type": "=",
                      "text": "="
                    },
                    {
                      "type": "number_literal",
                      "text": "0"
                    }
                  ]
                },
                {
                  "type": ",",
                  "text": ","
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "CMD_EXTRUDE"
                    },
                    {
                      "type": "=",
                      "text": "="
                    },
                    {
                      "type": "number_literal",
                      "text": "2"
                    }
                  ]
                },
                {
                  "type": ",",
                  "text": ","
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "CMD_STOP"
                    },
                    {
                      "type": "=",
                      "text": "="
                    },
                    {
                      "type": "number_literal",
                      "text": "3"
                    }
                  ]
                },
                {
                  "type": ",",
                  "text": ","
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "CMD_INFO"
                    },
                    {
                      "type": "=",
                      "text": "="
                    },
                    {
                      "type": "number_literal",
                      "text": "4"
                    }
                  ]
                },
                {
                  "type": "}",
                  "text": "}"
                }
              ]
            }
          ]
        },
        {
          "type": ";",
          "text": ";"
        },
        {
          "type": "comment",
          "text": "// Extruder States\r"
        },
        {
          "type": "enum_specifier",
          "children": [
            {
              "type": "enum",
              "text": "enum"
            },
            {
              "type": "class",
              "text": "class"
            },
            {
              "type": "type_identifier",
              "text": "ExtruderState"
            },
            {
              "type": ":",
              "text": ":"
            },
            {
              "type": "primitive_type",
              "text": "uint8_t"
            },
            {
              "type": "enumerator_list",
              "children": [
                {
                  "type": "{",
                  "text": "{"
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "IDLE"
                    }
                  ]
                },
                {
                  "type": ",",
                  "text": ","
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "EXTRUDING_MANUAL"
                    }
                  ]
                },
                {
                  "type": ",",
                  "text": ","
                },
                {
                  "type": "comment",
                  "text": "// Joystick held UP, VFD forwarding, monitoring for auto-mode hold time\r"
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "EXTRUDING_AUTO"
                    }
                  ]
                },
                {
                  "type": ",",
                  "text": ","
                },
                {
                  "type": "comment",
                  "text": "// Auto-extruding after joystick hold, VFD forwarding\r"
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "STOPPING"
                    }
                  ]
                },
                {
                  "type": ",",
                  "text": ","
                },
                {
                  "type": "comment",
                  "text": "// Transition state to stop VFD\r"
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "JAMMED"
                    }
                  ]
                },
                {
                  "type": ",",
                  "text": ","
                },
                {
                  "type": "enumerator",
                  "children": [
                    {
                      "type": "identifier",
                      "text": "RESETTING_JAM"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// State to handle reset after jam\r"
                },
                {
                  "type": "}",
                  "text": "}"
                }
              ]
            }
          ]
        },
        {
          "type": ";",
          "text": ";"
        },
        {
          "type": "class_specifier",
          "children": [
            {
              "type": "class",
              "text": "class"
            },
            {
              "type": "type_identifier",
              "text": "Extruder"
            },
            {
              "type": "base_class_clause",
              "children": [
                {
                  "type": ":",
                  "text": ":"
                },
                {
                  "type": "access_specifier",
                  "children": [
                    {
                      "type": "public",
                      "text": "public"
                    }
                  ]
                },
                {
                  "type": "type_identifier",
                  "text": "Component"
                }
              ]
            },
            {
              "type": "field_declaration_list",
              "children": [
                {
                  "type": "{",
                  "text": "{"
                },
                {
                  "type": "access_specifier",
                  "children": [
                    {
                      "type": "public",
                      "text": "public"
                    }
                  ]
                },
                {
                  "type": ":",
                  "text": ":"
                },
                {
                  "type": "declaration",
                  "children": [
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "identifier",
                          "text": "Extruder"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "Component"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "owner"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ",",
                              "text": ","
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "SAKO_VFD"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "vfd"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ",",
                              "text": ","
                            },
                            {
                              "type": "optional_parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "Pos3Analog"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "joystick"
                                    }
                                  ]
                                },
                                {
                                  "type": "=",
                                  "text": "="
                                },
                                {
                                  "type": "null",
                                  "children": [
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                                      "type": "nullptr",
                                      "text": "nullptr"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ",",
                              "text": ","
                            },
                            {
                              "type": "optional_parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "POT"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "speedPot"
                                    }
                                  ]
                                },
                                {
                                  "type": "=",
                                  "text": "="
                                },
                                {
                                  "type": "null",
                                  "children": [
                                    {
                                      "type": "nullptr",
                                      "text": "nullptr"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ",",
                              "text": ","
                            },
                            {
                              "type": "optional_parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "POT"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "overloadPot"
                                    }
                                  ]
                                },
                                {
                                  "type": "=",
                                  "text": "="
                                },
                                {
                                  "type": "null",
                                  "children": [
                                    {
                                      "type": "nullptr",
                                      "text": "nullptr"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "function_definition",
                  "children": [
                    {
                      "type": "function_declarator",
                      "children": [
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                          "type": "destructor_name",
                          "children": [
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                              "type": "~",
                              "text": "~"
                            },
                            {
                              "type": "identifier",
                              "text": "Extruder"
                            }
                          ]
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": "default_method_clause",
                      "children": [
                        {
                          "type": "=",
                          "text": "="
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                          "type": "default",
                          "text": "default"
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                          "type": ";",
                          "text": ";"
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                      ]
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "setup"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
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                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "loop"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "info"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "debug"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "serial_register"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "Bridge"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "b"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "init"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "reset"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// Modbus TCP Interface\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "type_identifier",
                      "text": "ModbusBlockView"
                    },
                    {
                      "type": "pointer_declarator",
                      "children": [
                        {
                          "type": "*",
                          "text": "*"
                        },
                        {
                          "type": "function_declarator",
                          "children": [
                            {
                              "type": "field_identifier",
                              "text": "mb_tcp_blocks"
                            },
                            {
                              "type": "parameter_list",
                              "children": [
                                {
                                  "type": "(",
                                  "text": "("
                                },
                                {
                                  "type": ")",
                                  "text": ")"
                                }
                              ]
                            },
                            {
                              "type": "type_qualifier",
                              "children": [
                                {
                                  "type": "const",
                                  "text": "const"
                                }
                              ]
                            },
                            {
                              "type": "virtual_specifier",
                              "children": [
                                {
                                  "type": "override",
                                  "text": "override"
                                }
                              ]
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "mb_tcp_register"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "ModbusTCP"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "mgr"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "mb_tcp_read"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "MB_Registers"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "reg"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "mb_tcp_write"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "MB_Registers"
                                },
                                {
                                  "type": "pointer_declarator",
                                  "children": [
                                    {
                                      "type": "*",
                                      "text": "*"
                                    },
                                    {
                                      "type": "identifier",
                                      "text": "reg"
                                    }
                                  ]
                                }
                              ]
                            },
                            {
                              "type": ",",
                              "text": ","
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "sized_type_specifier",
                                  "children": [
                                    {
                                      "type": "short",
                                      "text": "short"
                                    }
                                  ]
                                },
                                {
                                  "type": "identifier",
                                  "text": "networkValue"
                                }
                              ]
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        },
                        {
                          "type": "virtual_specifier",
                          "children": [
                            {
                              "type": "override",
                              "text": "override"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// Public commands for serial/external control\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "cmd_extrude"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "cmd_stop"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "access_specifier",
                  "children": [
                    {
                      "type": "private",
                      "text": "private"
                    }
                  ]
                },
                {
                  "type": ":",
                  "text": ":"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "type_identifier",
                      "text": "SAKO_VFD"
                    },
                    {
                      "type": "pointer_declarator",
                      "children": [
                        {
                          "type": "*",
                          "text": "*"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_vfd"
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "type_identifier",
                      "text": "Pos3Analog"
                    },
                    {
                      "type": "pointer_declarator",
                      "children": [
                        {
                          "type": "*",
                          "text": "*"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_joystick"
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "type_identifier",
                      "text": "POT"
                    },
                    {
                      "type": "pointer_declarator",
                      "children": [
                        {
                          "type": "*",
                          "text": "*"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_speedPot"
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "type_identifier",
                      "text": "POT"
                    },
                    {
                      "type": "pointer_declarator",
                      "children": [
                        {
                          "type": "*",
                          "text": "*"
                        },
                        {
                          "type": "field_identifier",
                          "text": "_overloadPot"
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "type_identifier",
                      "text": "ExtruderState"
                    },
                    {
                      "type": "field_identifier",
                      "text": "_currentState"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "qualified_identifier",
                      "children": [
                        {
                          "type": "namespace_identifier",
                          "text": "Pos3Analog"
                        },
                        {
                          "type": "::",
                          "text": "::"
                        },
                        {
                          "type": "type_identifier",
                          "text": "E_POS3_DIRECTION"
                        }
                      ]
                    },
                    {
                      "type": "field_identifier",
                      "text": "_lastJoystickDirection"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "uint16_t"
                    },
                    {
                      "type": "field_identifier",
                      "text": "_currentSpeedPotValue"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// 0-100, defaults to 100 if pot is null\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "uint16_t"
                    },
                    {
                      "type": "field_identifier",
                      "text": "_currentOverloadPotValue"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// 0-100, defaults to 100 if pot is null\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "float"
                    },
                    {
                      "type": "field_identifier",
                      "text": "_calculatedExtrudingSpeedHz"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// Calculated speed for extruding (0.01Hz units)\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "uint8_t"
                    },
                    {
                      "type": "field_identifier",
                      "text": "_calculatedOverloadThresholdPercent"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// Calculated torque threshold (0-100%)\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "unsigned",
                          "text": "unsigned"
                        },
                        {
                          "type": "long",
                          "text": "long"
                        }
                      ]
                    },
                    {
                      "type": "field_identifier",
                      "text": "_lastStateChangeTimeMs"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "unsigned",
                          "text": "unsigned"
                        },
                        {
                          "type": "long",
                          "text": "long"
                        }
                      ]
                    },
                    {
                      "type": "field_identifier",
                      "text": "_jammedStartTimeMs"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "unsigned",
                          "text": "unsigned"
                        },
                        {
                          "type": "long",
                          "text": "long"
                        }
                      ]
                    },
                    {
                      "type": "field_identifier",
                      "text": "_lastVfdReadTimeMs"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "unsigned",
                          "text": "unsigned"
                        },
                        {
                          "type": "long",
                          "text": "long"
                        }
                      ]
                    },
                    {
                      "type": "field_identifier",
                      "text": "_joystickHoldStartTimeMs"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// Timer for joystick hold duration\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "short",
                          "text": "short"
                        }
                      ]
                    },
                    {
                      "type": "field_identifier",
                      "text": "_modbusCommandRegisterValue"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// Holds the current value of the Modbus command register\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "unsigned",
                          "text": "unsigned"
                        },
                        {
                          "type": "long",
                          "text": "long"
                        }
                      ]
                    },
                    {
                      "type": "field_identifier",
                      "text": "_operationStartTimeMs"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// Start time of current extrude operation\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "sized_type_specifier",
                      "children": [
                        {
                          "type": "unsigned",
                          "text": "unsigned"
                        },
                        {
                          "type": "long",
                          "text": "long"
                        }
                      ]
                    },
                    {
                      "type": "field_identifier",
                      "text": "_currentMaxOperationTimeMs"
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// Calculated max duration for current operation\r"
                },
                {
                  "type": "comment",
                  "text": "// Helper methods\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_handleIdleState"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_handleExtrudingManualState"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_handleExtrudingAutoState"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_handleStoppingState"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_handleJammedState"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_handleResettingJamState"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_updatePotValues"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_checkVfdForJam"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_transitionToState"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "type_identifier",
                                  "text": "ExtruderState"
                                },
                                {
                                  "type": "identifier",
                                  "text": "newState"
                                }
                              ]
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "comment",
                  "text": "// VFD interaction wrappers\r"
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_vfdStartForward"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "primitive_type",
                                  "text": "uint16_t"
                                },
                                {
                                  "type": "identifier",
                                  "text": "frequencyCentiHz"
                                }
                              ]
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_vfdStartReverse"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": "parameter_declaration",
                              "children": [
                                {
                                  "type": "primitive_type",
                                  "text": "uint16_t"
                                },
                                {
                                  "type": "identifier",
                                  "text": "frequencyCentiHz"
                                }
                              ]
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_vfdStop"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "field_declaration",
                  "children": [
                    {
                      "type": "primitive_type",
                      "text": "void"
                    },
                    {
                      "type": "function_declarator",
                      "children": [
                        {
                          "type": "field_identifier",
                          "text": "_vfdResetJam"
                        },
                        {
                          "type": "parameter_list",
                          "children": [
                            {
                              "type": "(",
                              "text": "("
                            },
                            {
                              "type": ")",
                              "text": ")"
                            }
                          ]
                        }
                      ]
                    },
                    {
                      "type": ";",
                      "text": ";"
                    }
                  ]
                },
                {
                  "type": "}",
                  "text": "}"
                }
              ]
            }
          ]
        },
        {
          "type": ";",
          "text": ";"
        },
        {
          "type": "#endif",
          "text": "#endif"
        }
      ]
    },
    {
      "type": "comment",
      "text": "// PLUNGER_H "
    }
  ]
}