X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=2903a4a0d0b7f0fd5de90e0b979f898e796609c8;hp=4c9651edc5230bf606ced0f01c4952dd71edf985;hb=9a55e14e6ec1c05dfc3a6a7a9bc1b9c879207cad;hpb=4fb57a4dab8bd564445e824696a2dab470af8628

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 4c9651e..2903a4a 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -118,11 +118,12 @@ static uint8_t state_cob_color(uint8_t side)
 int8_t state_set_mode(uint8_t mode)
 {
 	state_mode = mode;
-	/* XXX synchrounous pack here */
-	STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d "
-		    "r_deploy=%d r_harvest=%d eject=%d",
-		    __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode),
-		    R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode));
+
+/* 	STMCH_DEBUG("%s(): l_deploy=%d l_harvest=%d " */
+/* 		    "r_deploy=%d r_harvest=%d eject=%d", */
+/* 		    __FUNCTION__, L_DEPLOY(mode), L_HARVEST(mode), */
+/* 		    R_DEPLOY(mode), R_HARVEST(mode), EJECT(mode)); */
+
 	return 0;
 }
 
@@ -138,6 +139,7 @@ static uint8_t state_want_exit(void)
 		return 0;
 	if (vt100_parser(&local_vt100, c) == KEY_CTRL_C)
 		return 1;
+	printf_P(PSTR("CTRL-C\r\n"));
 	return 0;
 }
 
@@ -154,7 +156,7 @@ static void state_do_harvest(uint8_t side)
 	/* if there is no cob, return */
 	if (state_cob_present(side))
 		return;
-		
+
 	/* if it is black, nothing to do */
 	if (state_cob_color(side) == I2C_COB_BLACK)
 		return;
@@ -162,6 +164,9 @@ static void state_do_harvest(uint8_t side)
 	/* eat the cob */
 	spickle_pack(side);
 	state_debug_wait_key_pressed();
+	/* xxx */
+	time_wait_ms(250);
+	left_cobroller_on();
 	delay = spickle_get_pack_delay(side);
 	time_wait_ms(delay);
 
@@ -176,7 +181,9 @@ static void state_do_harvest(uint8_t side)
 	wait_ms(200);
 	state_debug_wait_key_pressed();
 	shovel_down();
+	left_cobroller_off();
 	state_debug_wait_key_pressed();
+	time_wait_ms(500);
 }
 
 /* eject cobs */
@@ -184,8 +191,10 @@ static void state_do_eject(void)
 {
 	cob_count = 0;
 	shovel_mid();
+	servo_door_open();
 	time_wait_ms(2000);
 	shovel_down();
+	servo_door_close();
 }
 
 /* main state machine */
@@ -199,15 +208,24 @@ void state_machine(void)
 			state_init();
 		}
 
-		/* pack spickles */
-		if (L_DEPLOY(state_mode))
+		/* pack/deply spickles, enable/disable roller */
+		if (L_DEPLOY(state_mode)) {
 			spickle_deploy(I2C_LEFT_SIDE);
-		else
+			//left_cobroller_on();
+			left_cobroller_off();
+		}
+		else {
 			spickle_pack(I2C_LEFT_SIDE);
-		if (R_DEPLOY(state_mode))
+			left_cobroller_off();
+		}
+		if (R_DEPLOY(state_mode)) {
 			spickle_deploy(I2C_RIGHT_SIDE);
-		else
+			right_cobroller_on();
+		}
+		else {
 			spickle_pack(I2C_RIGHT_SIDE);
+			right_cobroller_off();
+		}
 
 		/* harvest */
 		if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
@@ -227,6 +245,7 @@ void state_init(void)
 {
 	vt100_init(&local_vt100);
 	shovel_down();
+	servo_door_close();
 	spickle_pack(I2C_LEFT_SIDE);
 	spickle_pack(I2C_RIGHT_SIDE);
 	state_mode = 0;