work on trajectory, update cobboard and ballboard too

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

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 39ce2bc..6d71e58 100644 (file)
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,14 +40,38 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "shovel.h"
 
 /* init spickle position at beginning */
 static void shovel_autopos(void)
 {
+       printf_P(PSTR("shovel autopos..."));
        pwm_ng_set(SHOVEL_PWM, -500);
        wait_ms(1000);
        pwm_ng_set(LEFT_SPICKLE_PWM, 0);
        encoders_spi_set_value(SHOVEL_ENCODER, 0);
+       printf_P(PSTR("ok\r\n"));
+}
+
+static uint8_t shovel_is_at_pos(int32_t pos)
+{
+       int32_t diff;
+       diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
+       if (diff < 0)
+               diff = -diff;
+       if (diff < 500)
+               return 1;
+       return 0;
+}
+
+uint8_t shovel_is_up(void)
+{
+       return shovel_is_at_pos(SHOVEL_UP);
+}
+
+uint8_t shovel_is_down(void)
+{
+       return shovel_is_at_pos(SHOVEL_DOWN);
 }
 
 void shovel_init(void)