X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fballboard%2Fstate.c;h=57d44ff6a0e924a0099ffb29e9463f0bc1b48c63;hp=9568be8997eadfa49efd1c89ef75a77876cb251b;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=d913aa23d2f02c5a66b3c9930763fcbd9e963d52

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
index 9568be8..57d44ff 100644
--- a/projects/microb2010/ballboard/state.c
+++ b/projects/microb2010/ballboard/state.c
@@ -56,7 +56,7 @@
 
 static struct vt100 local_vt100;
 static volatile uint8_t state_mode;
-static uint8_t ball_count;
+static volatile uint8_t ball_count;
 
 /* short aliases */
 #define INIT I2C_BALLBOARD_MODE_INIT
@@ -82,6 +82,7 @@ uint8_t state_get_ball_count(void)
 	return ball_count;
 }
 
+#if 0
 static void state_debug_wait_key_pressed(void)
 {
 	if (!state_debug)
@@ -89,11 +90,13 @@ static void state_debug_wait_key_pressed(void)
 	printf_P(PSTR("press a key\r\n"));
 	while (!cmdline_keypressed());
 }
+#endif
 
 /* set a new state, return 0 on success */
 int8_t state_set_mode(uint8_t mode)
 {
 	state_mode = mode;
+	STMCH_DEBUG("%s(): mode=%x ", __FUNCTION__, mode);
 
 /* 	STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
 /* 		    "r_deploy=%d r_harvest=%d eject=%d", */
@@ -127,7 +130,7 @@ uint8_t state_get_mode(void)
 /* harvest balls from area */
 static void state_do_harvest(void)
 {
-	state_debug_wait_key_pressed();
+	//state_debug_wait_key_pressed();
 	roller_on();
 }
 
@@ -135,6 +138,7 @@ static void state_do_harvest(void)
 static void state_do_eject(void)
 {
 	roller_reverse();
+	time_wait_ms(2000);
 }
 
 /* main state machine */