cobboard updated

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

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 8e8affc..2903a4a 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -139,6 +139,7 @@ static uint8_t state_want_exit(void)
                return 0;
        if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
                return 1;
                return 0;
        if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
                return 1;

+       printf_P(PSTR("CTRL-C\r\n"));

        return 0;
 }
 
        return 0;
 }
 


@@ -155,7 +156,7 @@ static void state_do_harvest(uint8_t side)
        /* if there is no cob, return */
        if (state_cob_present(side))
                return;
        /* if there is no cob, return */
        if (state_cob_present(side))
                return;

-               
+

        /* if it is black, nothing to do */
        if (state_cob_color(side) == I2C_COB_BLACK)
                return;
        /* if it is black, nothing to do */
        if (state_cob_color(side) == I2C_COB_BLACK)
                return;


@@ -163,6 +164,9 @@ static void state_do_harvest(uint8_t side)
        /* eat the cob */
        spickle_pack(side);
        state_debug_wait_key_pressed();
        /* eat the cob */
        spickle_pack(side);
        state_debug_wait_key_pressed();

+       /* xxx */
+       time_wait_ms(250);
+       left_cobroller_on();

        delay = spickle_get_pack_delay(side);
        time_wait_ms(delay);
 
        delay = spickle_get_pack_delay(side);
        time_wait_ms(delay);
 


@@ -177,7 +181,9 @@ static void state_do_harvest(uint8_t side)
        wait_ms(200);
        state_debug_wait_key_pressed();
        shovel_down();
        wait_ms(200);
        state_debug_wait_key_pressed();
        shovel_down();

+       left_cobroller_off();

        state_debug_wait_key_pressed();
        state_debug_wait_key_pressed();

+       time_wait_ms(500);

 }
 
 /* eject cobs */
 }
 
 /* eject cobs */


@@ -205,7 +211,8 @@ void state_machine(void)
                /* pack/deply spickles, enable/disable roller */
                if (L_DEPLOY(state_mode)) {
                        spickle_deploy(I2C_LEFT_SIDE);
                /* pack/deply spickles, enable/disable roller */
                if (L_DEPLOY(state_mode)) {
                        spickle_deploy(I2C_LEFT_SIDE);

-                       left_cobroller_on();
+                       //left_cobroller_on();
+                       left_cobroller_off();

                }
                else {
                        spickle_pack(I2C_LEFT_SIDE);
                }
                else {
                        spickle_pack(I2C_LEFT_SIDE);