X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fshovel.c;h=6d71e5876834f256d7a16fcc3c2cbbc1472874bf;hp=39ce2bc33de99dc4e185c7e17844196d44861ee6;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=a33ceba76b3770d48c68a321b5d259893ddc613c

diff --git a/projects/microb2010/cobboard/shovel.c b/projects/microb2010/cobboard/shovel.c
index 39ce2bc..6d71e58 100644
--- a/projects/microb2010/cobboard/shovel.c
+++ b/projects/microb2010/cobboard/shovel.c
@@ -40,14 +40,38 @@
 #include <rdline.h>
 
 #include "main.h"
+#include "shovel.h"
 
 /* init spickle position at beginning */
 static void shovel_autopos(void)
 {
+	printf_P(PSTR("shovel autopos..."));
 	pwm_ng_set(SHOVEL_PWM, -500);
 	wait_ms(1000);
 	pwm_ng_set(LEFT_SPICKLE_PWM, 0);
 	encoders_spi_set_value(SHOVEL_ENCODER, 0);
+	printf_P(PSTR("ok\r\n"));
+}
+
+static uint8_t shovel_is_at_pos(int32_t pos)
+{
+	int32_t diff;
+	diff = pos - encoders_spi_get_value(SHOVEL_ENCODER);
+	if (diff < 0)
+		diff = -diff;
+	if (diff < 500)
+		return 1;
+	return 0;
+}
+
+uint8_t shovel_is_up(void)
+{
+	return shovel_is_at_pos(SHOVEL_UP);
+}
+
+uint8_t shovel_is_down(void)
+{
+	return shovel_is_at_pos(SHOVEL_DOWN);
 }
 
 void shovel_init(void)