wait that ballboard is ready before eject

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index a97ae1a..3ef6675 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -188,8 +188,6 @@ void strat_event(void *dummy)
                cobboard.cob_count = 5;
        if (time_get_s() == 16)
                cobboard.cob_count = 0;
-       if (time_get_s() == 25)
-               cobboard.cob_count = 5;
 #endif
 
        /* detect cob on left side */
@@ -280,7 +278,7 @@ static uint8_t strat_eject(void)
                                    TRAJ_FLAGS_NO_NEAR);
        if (err == 0) {
                want_pack = 1;
-               strat_set_speed(600, SPEED_ANGLE_SLOW);
+               strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
                err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
        }
 
@@ -296,7 +294,14 @@ static uint8_t strat_eject(void)
 
        DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
        strat_hardstop();
+#ifdef HOST_VERSION
        time_wait_ms(2000);
+#else
+       WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+                            2000);
+       WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+                            2000);
+#endif
 
        /* half turn */
        trajectory_a_rel(&mainboard.traj, COLOR_A(180));
@@ -320,13 +325,6 @@ static uint8_t strat_beginning(void)
        uint8_t err;
 
        strat_set_acc(ACC_DIST, ACC_ANGLE);
-#ifdef HOST_VERSION
-       strat_set_speed(600, SPEED_ANGLE_FAST);
-#else
-       /* 250 */
-       strat_set_speed(250, SPEED_ANGLE_FAST);
-#endif
-
        strat_set_speed(600, 60); /* OK */
        //strat_set_speed(250, 28); /* OK */
 
@@ -335,14 +333,11 @@ static uint8_t strat_beginning(void)
                                    TRAJ_FLAGS_STD);
 
        strat_set_acc(ACC_DIST, ACC_ANGLE);
-       strat_set_speed(250, SPEED_ANGLE_SLOW);
+       strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
 
  l1:
        DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
-       if (get_cob_count() >= 5)
-               strat_set_speed(600, SPEED_ANGLE_FAST);
-
-       err = line2line(0, LINE_UP, 2, LINE_R_DOWN);
+       err = line2line(0, LINE_UP, 2, LINE_R_DOWN, TRAJ_FLAGS_NO_NEAR);
        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
@@ -351,10 +346,7 @@ static uint8_t strat_beginning(void)
 
  l2:
        DEBUG(E_USER_STRAT, "%s():%d count=%d", __FUNCTION__, __LINE__, get_cob_count());
-       if (get_cob_count() >= 5)
-               strat_set_speed(600, SPEED_ANGLE_FAST);
-
-       err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP);
+       err = line2line(2, LINE_R_DOWN, 2, LINE_R_UP, TRAJ_FLAGS_NO_NEAR);
        if (!TRAJ_SUCCESS(err)) {
                strat_hardstop();
                time_wait_ms(2000);
@@ -364,7 +356,7 @@ static uint8_t strat_beginning(void)
        strat_eject();
 
        while (1) {
-               strat_set_speed(250, SPEED_ANGLE_FAST);
+               strat_set_speed(SPEED_CLITOID_SLOW, SPEED_ANGLE_SLOW);
                strat_harvest_circuit();
                strat_eject();
        }