i2c rework

[aversive.git] / projects / microb2010 / cobboard / commands_cobboard.c

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index bea27e9..dbbdd79 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -229,38 +229,26 @@ static void cmd_state2_parsed(void *parsed_result,
                              __attribute__((unused)) void *data)
 {
        struct cmd_state2_result *res = parsed_result;
                              __attribute__((unused)) void *data)
 {
        struct cmd_state2_result *res = parsed_result;

-       uint8_t side, mode = state_get_mode();
+       uint8_t side;

 
 

-       if (!strcmp_P(res->arg2, PSTR("left"))) {
+       if (!strcmp_P(res->arg2, PSTR("left")))

                side = I2C_LEFT_SIDE;
                side = I2C_LEFT_SIDE;

-               mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
-       }
-       else {
+       else

                side = I2C_RIGHT_SIDE;
                side = I2C_RIGHT_SIDE;

-               mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
-       }

 
        if (!strcmp_P(res->arg1, PSTR("pack"))) {
 
        if (!strcmp_P(res->arg1, PSTR("pack"))) {

-               /* nothing to do */
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, 0);

        }
        else if (!strcmp_P(res->arg1, PSTR("deploy"))) {
        }
        else if (!strcmp_P(res->arg1, PSTR("deploy"))) {

-               if (side == I2C_LEFT_SIDE)
-                       mode |= I2C_COBBOARD_MODE_L_DEPLOY;
-               else
-                       mode |= I2C_COBBOARD_MODE_R_DEPLOY;
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);

        }
        else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
        }
        else if (!strcmp_P(res->arg1, PSTR("harvest"))) {

-               if (side == I2C_LEFT_SIDE) {
-                       mode |= I2C_COBBOARD_MODE_L_DEPLOY;
-                       mode |= I2C_COBBOARD_MODE_L_HARVEST;
-               }
-               else {
-                       mode |= I2C_COBBOARD_MODE_R_DEPLOY;
-                       mode |= I2C_COBBOARD_MODE_R_HARVEST;
-               }
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+                                 I2C_COBBOARD_SPK_AUTOHARVEST);

        }
        }

-
-       state_set_mode(mode);

 }
 
 prog_char str_state2_arg0[] = "cobboard";
 }
 
 prog_char str_state2_arg0[] = "cobboard";