-
-uint8_t pump_left1_is_full(void)
-{
- return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_L1) &&
- (sensor_get_adc(ADC_CSENSE3) > I2C_MECHBOARD_CURRENT_COLUMN));
-}
-
-uint8_t pump_left2_is_full(void)
-{
- return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_L2) &&
- (sensor_get_adc(ADC_CSENSE4) > I2C_MECHBOARD_CURRENT_COLUMN));
-}
-
-uint8_t pump_right1_is_full(void)
-{
- return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_R1) &&
- (mechboard.pump_right1_current > I2C_MECHBOARD_CURRENT_COLUMN));
-}
-
-uint8_t pump_right2_is_full(void)
-{
- return !!( (mechboard.column_flags & I2C_MECHBOARD_COLUMN_R2) &&
- (mechboard.pump_right2_current > I2C_MECHBOARD_CURRENT_COLUMN));
-}
-
-/* number of column owned by the robot */
-uint8_t get_column_count_left(void)
-{
- uint8_t ret = 0;
- ret += pump_left1_is_full();
- ret += pump_left2_is_full();
- return ret;
-}
-
-/* number of column owned by the robot */
-uint8_t get_column_count_right(void)
-{
- uint8_t ret = 0;
- ret += pump_right1_is_full();
- ret += pump_right2_is_full();
- return ret;
-}
-
-/* number of column owned by the robot */
-uint8_t get_column_count(void)
-{
- uint8_t ret = 0;
- ret += pump_left1_is_full();
- ret += pump_left2_is_full();
- ret += pump_right1_is_full();
- ret += pump_right2_is_full();
- return ret;
-}
-
-uint8_t get_lintel_count(void)
-{
- return mechboard.lintel_count;
-}
-
-uint8_t get_mechboard_mode(void)
-{
- return mechboard.mode;
-}
-
-uint8_t get_scanner_status(void)
-{
- return sensorboard.scan_status;
-}
-
-/* return 0 if timeout, or 1 if cond is true */
-uint8_t wait_scan_done(uint16_t timeout)
-{
- uint8_t err;
- err = WAIT_COND_OR_TIMEOUT(get_scanner_status() & I2C_SCAN_DONE, timeout);
- return err;
-}
-