state machine and support balls

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

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index d02e544..4c9651e 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -68,6 +68,7 @@ static uint8_t cob_count;
 #define R_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
 #define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
 #define EJECT(mode)      (!!((mode) & I2C_COBBOARD_MODE_EJECT))
+#define INIT(mode)       (!!((mode) & I2C_COBBOARD_MODE_INIT))
 
 uint8_t state_debug = 0;
 
@@ -78,6 +79,11 @@ static void state_dump_sensors(void)
 }
 #endif
 
+uint8_t state_get_cob_count(void)
+{
+       return cob_count;
+}
+
 static void state_debug_wait_key_pressed(void)
 {
        if (!state_debug)
@@ -187,10 +193,20 @@ void state_machine(void)
 {
        while (state_want_exit() == 0) {
 
+               /* init */
+               if (INIT(state_mode)) {
+                       state_mode &= (~I2C_COBBOARD_MODE_INIT);
+                       state_init();
+               }
+
                /* pack spickles */
-               if (!L_DEPLOY(state_mode))
+               if (L_DEPLOY(state_mode))
+                       spickle_deploy(I2C_LEFT_SIDE);
+               else
                        spickle_pack(I2C_LEFT_SIDE);
-               if (!R_DEPLOY(state_mode))
+               if (R_DEPLOY(state_mode))
+                       spickle_deploy(I2C_RIGHT_SIDE);
+               else
                        spickle_pack(I2C_RIGHT_SIDE);
 
                /* harvest */
@@ -200,8 +216,10 @@ void state_machine(void)
                        state_do_harvest(I2C_RIGHT_SIDE);
 
                /* eject */
-               if (EJECT(state_mode))
+               if (EJECT(state_mode)) {
+                       state_mode &= (~I2C_COBBOARD_MODE_EJECT);
                        state_do_eject();
+               }
        }
 }