#define INIT(mode) ((mode) == I2C_COBBOARD_MODE_INIT)
#define HARVEST(mode) ((mode) == I2C_COBBOARD_MODE_HARVEST)
#define EJECT(mode) ((mode) == I2C_COBBOARD_MODE_EJECT)
-#define KICKSTAND(mode) ((mode) == I2C_COBBOARD_MODE_KICKSTAND)
+#define KICKSTAND_UP(mode) ((mode) == I2C_COBBOARD_MODE_KICKSTAND_UP)
+#define KICKSTAND_DOWN(mode) ((mode) == I2C_COBBOARD_MODE_KICKSTAND_DOWN)
uint8_t state_debug = 0;
shovel_down();
servo_carry_close();
servo_door_close();
- shovel_current_limit_enable(0);
/* pack/deply spickles, enable/disable roller */
cobroller_off(I2C_LEFT_SIDE);
}
/* help to climb the hill */
- if (KICKSTAND(state_mode)) {
+ if (KICKSTAND_UP(state_mode)) {
+ state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
servo_carry_open();
servo_door_open();
- shovel_current_limit_enable(1);
- shovel_kickstand();
+ shovel_kickstand_up();
+ }
+
+ if (KICKSTAND_DOWN(state_mode)) {
+ state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
+ servo_carry_open();
+ servo_door_open();
+ shovel_kickstand_down();
}
/* eject */