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weak current limit on spickles
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
state.c
diff --git
a/projects/microb2010/cobboard/state.c
b/projects/microb2010/cobboard/state.c
index
e315da0
..
4eef55f
100644
(file)
--- a/
projects/microb2010/cobboard/state.c
+++ b/
projects/microb2010/cobboard/state.c
@@
-120,6
+120,14
@@
static uint8_t state_spicklemode_nomove(uint8_t side)
return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
}
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)
{
/* pack/deploy spickles depending on mode */
static void spickle_prepare(uint8_t side)
{
@@
-338,12
+346,10
@@
void state_machine(void)
/* harvest */
if (cob_count < 5) {
if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
/* harvest */
if (cob_count < 5) {
if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
- state_spicklemode_autoharvest(I2C_LEFT_SIDE) &&
- !state_spicklemode_nomove(I2C_LEFT_SIDE))
+ state_spicklemode_autoharvest(I2C_LEFT_SIDE))
state_do_harvest(I2C_LEFT_SIDE);
if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
state_do_harvest(I2C_LEFT_SIDE);
if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
- state_spicklemode_autoharvest(I2C_RIGHT_SIDE) &&
- !state_spicklemode_nomove(I2C_RIGHT_SIDE))
+ state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
state_do_harvest(I2C_RIGHT_SIDE);
}
state_do_harvest(I2C_RIGHT_SIDE);
}