oranges and enhance strats

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

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 86afce9..2d65208 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -66,6 +66,8 @@ static uint8_t cob_count;
 #define INIT(mode)       ((mode) == I2C_COBBOARD_MODE_INIT)
 #define HARVEST(mode)    ((mode) == I2C_COBBOARD_MODE_HARVEST)
 #define EJECT(mode)      ((mode) == I2C_COBBOARD_MODE_EJECT)
+#define KICKSTAND_UP(mode)    ((mode) == I2C_COBBOARD_MODE_KICKSTAND_UP)
+#define KICKSTAND_DOWN(mode)  ((mode) == I2C_COBBOARD_MODE_KICKSTAND_DOWN)
 
 uint8_t state_debug = 0;
 
@@ -96,7 +98,7 @@ static uint8_t state_no_cob_inside(void)
                !sensor_get(S_COB_INSIDE_R);
 }
 
-static uint8_t is_deployed(uint8_t side)
+static uint8_t state_spicklemode_deployed(uint8_t side)
 {
        if (side == I2C_LEFT_SIDE)
                return lspickle & I2C_COBBOARD_SPK_DEPLOY;
@@ -104,7 +106,7 @@ static uint8_t is_deployed(uint8_t side)
                return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 }
 
-static uint8_t is_autoharvest(uint8_t side)
+static uint8_t state_spicklemode_autoharvest(uint8_t side)
 {
        if (side == I2C_LEFT_SIDE)
                return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
@@ -112,14 +114,34 @@ static uint8_t is_autoharvest(uint8_t side)
                return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 }
 
+static uint8_t state_spicklemode_nomove(uint8_t side)
+{
+       if (side == I2C_LEFT_SIDE)
+               return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
+       else
+               return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
+}
+
+uint8_t state_spicklemode_weak(uint8_t side)
+{
+       if (side == I2C_LEFT_SIDE)
+               return lspickle & I2C_COBBOARD_SPK_WEAK;
+       else
+               return rspickle & I2C_COBBOARD_SPK_WEAK;
+}
+
 /* pack/deploy spickles depending on mode */
 static void spickle_prepare(uint8_t side)
 {
-       if (cob_count >= 5)
+       /* pack spickle if we are not in harvest mode */
+       if (!HARVEST(state_mode))
                spickle_pack(side);
-       else if (is_deployed(side) && !is_autoharvest(side))
-               spickle_deploy(side); /*spickle_mid(side);*/
-       else if (is_deployed(side) && is_autoharvest(side))
+
+       /* we do nothing in mode no out */
+       if (state_spicklemode_nomove(side))
+               return;
+
+       if (state_spicklemode_deployed(side))
                spickle_deploy(side);
        else
                spickle_pack(side);
@@ -247,12 +269,15 @@ static void state_do_harvest(uint8_t side)
        cobroller_off(side);
        cob_count ++;
 
+       state_debug_wait_key_pressed();
+
        /* last cob, nothing to do */
        if (cob_count == 5)
                return;
 
-       /* redeploy the spickle */
-       spickle_deploy(side);
+       /* redeploy the spickle if there is a black cob */
+       if (!state_spicklemode_nomove(side))
+               spickle_deploy(side);
        state_debug_wait_key_pressed();
 
        /* let the loaded cobs go */
@@ -318,20 +343,42 @@ void state_machine(void)
                        state_mode = I2C_COBBOARD_MODE_HARVEST;
                }
 
-               /* pack/deply spickles, enable/disable roller */
-               cobroller_off(I2C_LEFT_SIDE);
-               cobroller_off(I2C_RIGHT_SIDE);
-               spickle_prepare(I2C_LEFT_SIDE);
-               spickle_prepare(I2C_RIGHT_SIDE);
-
-               /* harvest */
-               if (cob_count < 5) {
-                       if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
-                           (lspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
-                               state_do_harvest(I2C_LEFT_SIDE);
-                       if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
-                           (rspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
-                               state_do_harvest(I2C_RIGHT_SIDE);
+               if (HARVEST(state_mode)) {
+                       /* init for each loop */
+                       shovel_down();
+                       servo_carry_close();
+                       servo_door_close();
+
+                       /* pack/deply spickles, enable/disable roller */
+                       cobroller_off(I2C_LEFT_SIDE);
+                       cobroller_off(I2C_RIGHT_SIDE);
+                       spickle_prepare(I2C_LEFT_SIDE);
+                       spickle_prepare(I2C_RIGHT_SIDE);
+
+                       /* harvest if not many cobs */
+                       if (cob_count < 5) {
+                               if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+                                   state_spicklemode_autoharvest(I2C_LEFT_SIDE))
+                                       state_do_harvest(I2C_LEFT_SIDE);
+                               if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
+                                   state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
+                                       state_do_harvest(I2C_RIGHT_SIDE);
+                       }
+               }
+
+               /* help to climb the hill */
+               if (KICKSTAND_UP(state_mode)) {
+                       state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
+                       servo_carry_open();
+                       servo_door_open();
+                       shovel_kickstand_up();
+               }
+
+               if (KICKSTAND_DOWN(state_mode)) {
+                       state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
+                       servo_carry_open();
+                       servo_door_open();
+                       shovel_kickstand_down();
                }
 
                /* eject */