i2c rework

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

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index a5a952c..df80b79 100644 (file)
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -110,8 +110,9 @@ void strat_init(void)
        time_reset();
        interrupt_traj_reset();
 
-       i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
-       i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE);
+       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+       i2c_cobboard_harvest(I2C_LEFT_SIDE);
+       i2c_cobboard_harvest(I2C_RIGHT_SIDE);
        i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
 
        /* used in strat_base for END_TIMER */
@@ -198,15 +199,15 @@ static uint8_t strat_beginning(void)
        /* half turn */
        trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
        err = wait_traj_end(END_INTR|END_TRAJ);
-       i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
-       i2c_cobboard_mode_pack(I2C_RIGHT_SIDE);
+       i2c_cobboard_pack(I2C_LEFT_SIDE);
+       i2c_cobboard_pack(I2C_RIGHT_SIDE);
        trajectory_a_rel(&mainboard.traj, COLOR_A(180));
        err = wait_traj_end(END_INTR|END_TRAJ);
 
        /* cob ejection */
        trajectory_d_rel(&mainboard.traj, -100);
        err = wait_traj_end(END_INTR|END_TRAJ);
-       i2c_cobboard_mode_eject();
+       i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
        time_wait_ms(2000);
 
        trajectory_hardstop(&mainboard.traj);