oranges and enhance strats

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

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
index a322d17..e777e49 100644 (file)
--- a/projects/microb2010/ballboard/state.c
+++ b/projects/microb2010/ballboard/state.c
@@ -64,10 +64,8 @@ static volatile uint8_t ball_count;
 #define OFF I2C_BALLBOARD_MODE_OFF
 #define HARVEST I2C_BALLBOARD_MODE_HARVEST
 #define EJECT I2C_BALLBOARD_MODE_EJECT
-#define PREP_L_FORK I2C_BALLBOARD_MODE_PREP_L_FORK
-#define TAKE_L_FORK I2C_BALLBOARD_MODE_TAKE_L_FORK
-#define PREP_R_FORK I2C_BALLBOARD_MODE_PREP_R_FORK
-#define TAKE_R_FORK I2C_BALLBOARD_MODE_TAKE_R_FORK
+#define PREP_FORK I2C_BALLBOARD_MODE_PREP_FORK
+#define TAKE_FORK I2C_BALLBOARD_MODE_TAKE_FORK
 
 uint8_t state_debug = 0;
 
@@ -216,6 +214,7 @@ void state_machine(void)
 
                case INIT:
                        state_init();
+                       fork_pack();
                        state_mode = OFF;
                        state_status = I2C_BALLBOARD_STATUS_F_READY;
                        break;
@@ -223,20 +222,35 @@ void state_machine(void)
                case OFF:
                        state_status = I2C_BALLBOARD_STATUS_F_READY;
                        roller_off();
+                       fork_pack();
                        break;
 
                case HARVEST:
                        state_status = I2C_BALLBOARD_STATUS_F_READY;
+                       fork_pack();
                        state_do_harvest();
                        break;
 
                case EJECT:
                        state_status = I2C_BALLBOARD_STATUS_F_BUSY;
+                       fork_pack();
                        state_do_eject();
                        state_status = I2C_BALLBOARD_STATUS_F_READY;
                        state_mode = HARVEST;
                        break;
 
+               case PREP_FORK:
+                       roller_off();
+                       fork_deploy();
+                       break;
+
+               case TAKE_FORK:
+                       roller_off();
+                       fork_mid();
+                       time_wait_ms(1300);
+                       state_mode = OFF;
+                       break;
+
                default:
                        break;
                }