cobboard

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

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 2903a4a..3308405 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -114,6 +114,13 @@ static uint8_t state_cob_color(uint8_t side)
                return 0;
 }
 
+/* return true if the cob is correctly inside */
+static uint8_t state_cob_inside(void)
+{
+       return sensor_get(S_COB_INSIDE_L) &&
+               sensor_get(S_COB_INSIDE_R);
+}
+
 /* set a new state, return 0 on success */
 int8_t state_set_mode(uint8_t mode)
 {
@@ -163,23 +170,34 @@ static void state_do_harvest(uint8_t side)
 
        /* 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);
+
+       WAIT_COND_OR_TIMEOUT(state_cob_inside(), delay);
 
        /* redeploy the spickle */
        spickle_deploy(side);
        state_debug_wait_key_pressed();
 
+       /* let the cob go */
+       servo_carry_open();
+       wait_ms(300); /* XXX */
+       state_debug_wait_key_pressed();
+
        cob_count ++;
 
        /* store it */
        shovel_up();
        wait_ms(200);
        state_debug_wait_key_pressed();
+
+       /* close the carry servos */
+       servo_carry_close();
+       wait_ms(300); /* XXX */
+       state_debug_wait_key_pressed();
+
        shovel_down();
        left_cobroller_off();
        state_debug_wait_key_pressed();
@@ -191,10 +209,12 @@ static void state_do_eject(void)
 {
        cob_count = 0;
        shovel_mid();
+       servo_carry_open();
        servo_door_open();
        time_wait_ms(2000);
        shovel_down();
        servo_door_close();
+       servo_carry_close();
 }
 
 /* main state machine */
@@ -246,6 +266,7 @@ void state_init(void)
        vt100_init(&local_vt100);
        shovel_down();
        servo_door_close();
+       servo_carry_close();
        spickle_pack(I2C_LEFT_SIDE);
        spickle_pack(I2C_RIGHT_SIDE);
        state_mode = 0;