ballboard: ramp on roller, and maybe fix race on state machine

[aversive.git] / projects / microb2010 / ballboard / state.c

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
index 9568be8..08c104d 100644 (file)
--- a/projects/microb2010/ballboard/state.c
+++ b/projects/microb2010/ballboard/state.c
@@ -56,7 +56,7 @@
 
 static struct vt100 local_vt100;
 static volatile uint8_t state_mode;
-static uint8_t ball_count;
+static volatile uint8_t ball_count;
 
 /* short aliases */
 #define INIT I2C_BALLBOARD_MODE_INIT
@@ -82,6 +82,7 @@ uint8_t state_get_ball_count(void)
        return ball_count;
 }
 
+#if 0
 static void state_debug_wait_key_pressed(void)
 {
        if (!state_debug)
@@ -89,11 +90,13 @@ static void state_debug_wait_key_pressed(void)
        printf_P(PSTR("press a key\r\n"));
        while (!cmdline_keypressed());
 }
+#endif
 
 /* set a new state, return 0 on success */
 int8_t state_set_mode(uint8_t mode)
 {
        state_mode = mode;
+       STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
 
 /*     STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 /*                 "r_deploy=%d r_harvest=%d eject=%d", */
@@ -127,7 +130,7 @@ uint8_t state_get_mode(void)
 /* harvest balls from area */
 static void state_do_harvest(void)
 {
-       state_debug_wait_key_pressed();
+       //state_debug_wait_key_pressed();
        roller_on();
 }
 
@@ -135,13 +138,21 @@ static void state_do_harvest(void)
 static void state_do_eject(void)
 {
        roller_reverse();
+       time_wait_ms(2000);
 }
 
 /* main state machine */
 void state_machine(void)
 {
+       uint8_t mode = 0;
+
        while (state_want_exit() == 0) {
 
+               if (state_mode != mode) {
+                       mode = state_mode;
+                       STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
+               }
+
                switch (state_mode) {
 
                case INIT: