20100416

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index 6743d37..1a525e5 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -1,6 +1,6 @@
-/*  
+/*
  *  Copyright Droids, Microb Technology (2009)
- * 
+ *
  *  This program is free software; you can redistribute it and/or modify
  *  it under the terms of the GNU General Public License as published by
  *  the Free Software Foundation; either version 2 of the License, or
@@ -17,7 +17,7 @@
  *
  *  Revision : $Id: strat.c,v 1.6 2009-11-08 17:24:33 zer0 Exp $
  *
- *  Olivier MATZ <zer0@droids-corp.org> 
+ *  Olivier MATZ <zer0@droids-corp.org>
  */
 
 #include <stdio.h>
@@ -58,6 +58,7 @@
 #include "main.h"
 #include "strat.h"
 #include "strat_base.h"
+#include "strat_corn.h"
 #include "strat_utils.h"
 #include "sensor.h"
 #include "actuator.h"
@@ -70,7 +71,10 @@ struct strat_infos strat_infos = {
        .conf = {
                .flags = 0,
        },
-
+       /* status */
+       .status = {
+               .flags = 0,
+       },
 };
 
 /*************************************************************/
@@ -135,12 +139,14 @@ void strat_dump_infos(const char *caller)
  * here */
 void strat_reset_infos(void)
 {
+       init_corn_table(-1, -1);
 }
 
 /* call it just before launching the strat */
 void strat_init(void)
 {
        /* XXX init rollers, .. */
+
        strat_reset_infos();
 
        /* we consider that the color is correctly set */
@@ -150,7 +156,7 @@ void strat_init(void)
        interrupt_traj_reset();
 
        /* used in strat_base for END_TIMER */
-       mainboard.flags = DO_ENCODERS | DO_CS | DO_RS | 
+       mainboard.flags = DO_ENCODERS | DO_CS | DO_RS |
                DO_POS | DO_BD | DO_TIMER | DO_POWER;
 }
 
@@ -174,6 +180,17 @@ void strat_exit(void)
 /* called periodically */
 void strat_event(void *dummy)
 {
+#if 0
+       /* pack or deploy spickle */
+       if (strat_infos.status.flags & STRAT_STATUS_LHARVEST) {
+               if (sensor_get(S_LCOB_PRESENT)) {
+                       if (sensor_get(S_LCOB_WHITE))
+                               i2c_ballboard_set_mode();
+                       else
+                               ;
+               }
+       }
+#endif
        /* limit speed when opponent is close */
        strat_limit_speed();
 }
@@ -197,7 +214,7 @@ uint8_t strat_main(void)
 {
        uint8_t err;
 
-       /* do static cols + first temple */
+       /* */
        err = strat_beginning();
 
        return err;