X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fsensor.c;h=a3a705b43eab402460bb571758625ef635a02ea5;hp=fe7f92a7588a4b046c94a689ba4d787da42f81e4;hb=063af91cd38fceba6cbcf3a9b8abd4c48684d990;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673

diff --git a/projects/microb2010/ballboard/sensor.c b/projects/microb2010/ballboard/sensor.c
index fe7f92a..a3a705b 100644
--- a/projects/microb2010/ballboard/sensor.c
+++ b/projects/microb2010/ballboard/sensor.c
@@ -146,8 +146,8 @@ struct sensor_filter {
  * CAP 1
  */
 static struct sensor_filter sensor_filter[SENSOR_MAX] = {
-	[S_CAP1] = { 1, 0, 0, 1, 0, 0 }, /* 0 */
-	[S_CAP2] = { 1, 0, 0, 1, 0, 0 }, /* 1 */
+	[S_HIGH_BARRIER] = { 20, 0, 1, 19, 0, 1 }, /* 0 */
+	[S_LOW_BARRIER] = { 50, 0, 1, 1, 0, 0 }, /* 1 */
 	[S_CAP3] = { 1, 0, 0, 1, 0, 0 }, /* 2 */
 	[S_CAP4] = { 1, 0, 0, 1, 0, 0 }, /* 3 */
 	[S_R_IR] = { 1, 0, 0, 1, 0, 0 }, /* 4 */
@@ -235,7 +235,8 @@ static void do_boolean_sensors(void *dummy)
 	IRQ_UNLOCK(flags);
 }
 
-static volatile uint8_t lcob_seen = I2C_COB_NONE, rcob_seen = I2C_COB_NONE;
+static volatile uint8_t lcob_seen = I2C_COB_NONE;
+static volatile uint8_t rcob_seen = I2C_COB_NONE;
 
 uint8_t cob_detect_left(void)
 {
@@ -298,6 +299,12 @@ static void do_cob_detection(void)
 			else
 				lcob_seen = I2C_COB_BLACK;
 			IRQ_UNLOCK(flags);
+			if (l_cpt_on > l_cpt_off)
+				DEBUG(E_USER_SENSOR, "left white %d %d",
+				      l_cpt_on, l_cpt_off);
+			else
+				DEBUG(E_USER_SENSOR, "left black %d %d",
+				      l_cpt_on, l_cpt_off);
 		}
 	}
 
@@ -328,6 +335,13 @@ static void do_cob_detection(void)
 			else
 				rcob_seen = I2C_COB_BLACK;
 			IRQ_UNLOCK(flags);
+
+			if (r_cpt_on > r_cpt_off)
+				DEBUG(E_USER_SENSOR, "right white %d %d",
+				      r_cpt_on, r_cpt_off);
+			else
+				DEBUG(E_USER_SENSOR, "right black %d %d",
+				      r_cpt_on, r_cpt_off);
 		}
 	}