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 d9e6533..2d65208 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -66,7 +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(mode)  ((mode) == I2C_COBBOARD_MODE_KICKSTAND)
+#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;
 
@@ -347,7 +348,6 @@ void state_machine(void)
                        shovel_down();
                        servo_carry_close();
                        servo_door_close();
-                       shovel_current_limit_enable(0);
 
                        /* pack/deply spickles, enable/disable roller */
                        cobroller_off(I2C_LEFT_SIDE);
@@ -367,11 +367,18 @@ void state_machine(void)
                }
 
                /* help to climb the hill */
-               if (KICKSTAND(state_mode)) {
+               if (KICKSTAND_UP(state_mode)) {
+                       state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
                        servo_carry_open();
                        servo_door_open();
-                       shovel_current_limit_enable(1);
-                       shovel_kickstand();
+                       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 */