circuit strat, first version

[aversive.git] / projects / microb2010 / mainboard / i2c_protocol.c

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index d264622..7a2c378 100644 (file)
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -426,7 +426,7 @@ int8_t i2c_cobboard_pack(uint8_t side)
        return i2c_cobboard_set_spickle(side, 0);
 }
 
-int8_t i2c_cobboard_harvest(uint8_t side)
+int8_t i2c_cobboard_autoharvest(uint8_t side)
 {
        return i2c_cobboard_set_spickle(side,
                                        I2C_COBBOARD_SPK_DEPLOY |
@@ -438,6 +438,20 @@ int8_t i2c_cobboard_deploy(uint8_t side)
        return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
 }
 
+int8_t i2c_cobboard_autoharvest_nomove(uint8_t side)
+{
+       return i2c_cobboard_set_spickle(side,
+                                       I2C_COBBOARD_SPK_DEPLOY |
+                                       I2C_COBBOARD_SPK_AUTOHARVEST |
+                                       I2C_COBBOARD_SPK_NO_MOVE);
+}
+
+int8_t i2c_cobboard_deploy_nomove(uint8_t side)
+{
+       return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+                                       I2C_COBBOARD_SPK_NO_MOVE);
+}
+
 int8_t i2c_ballboard_set_mode(uint8_t mode)
 {
        struct i2c_cmd_ballboard_set_mode buf;