X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=2903a4a0d0b7f0fd5de90e0b979f898e796609c8;hp=d02e54440a0aca434409f4748e1680fd5c1c6aad;hb=9a55e14e6ec1c05dfc3a6a7a9bc1b9c879207cad;hpb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index d02e544..2903a4a 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -68,6 +68,7 @@ static uint8_t cob_count;
 #define R_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
 #define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
 #define EJECT(mode)      (!!((mode) & I2C_COBBOARD_MODE_EJECT))
+#define INIT(mode)       (!!((mode) & I2C_COBBOARD_MODE_INIT))
 
 uint8_t state_debug = 0;
 
@@ -78,6 +79,11 @@ static void state_dump_sensors(void)
 }
 #endif
 
+uint8_t state_get_cob_count(void)
+{
+	return cob_count;
+}
+
 static void state_debug_wait_key_pressed(void)
 {
 	if (!state_debug)
@@ -112,11 +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;
 }
 
@@ -132,6 +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;
 }
 
@@ -148,7 +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;
@@ -156,6 +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);
 
@@ -170,7 +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 */
@@ -178,8 +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 */
@@ -187,11 +202,30 @@ void state_machine(void)
 {
 	while (state_want_exit() == 0) {
 
-		/* pack spickles */
-		if (!L_DEPLOY(state_mode))
+		/* init */
+		if (INIT(state_mode)) {
+			state_mode &= (~I2C_COBBOARD_MODE_INIT);
+			state_init();
+		}
+
+		/* pack/deply spickles, enable/disable roller */
+		if (L_DEPLOY(state_mode)) {
+			spickle_deploy(I2C_LEFT_SIDE);
+			//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);
+			right_cobroller_on();
+		}
+		else {
 			spickle_pack(I2C_RIGHT_SIDE);
+			right_cobroller_off();
+		}
 
 		/* harvest */
 		if (L_DEPLOY(state_mode) && L_HARVEST(state_mode))
@@ -200,8 +234,10 @@ void state_machine(void)
 			state_do_harvest(I2C_RIGHT_SIDE);
 
 		/* eject */
-		if (EJECT(state_mode))
+		if (EJECT(state_mode)) {
+			state_mode &= (~I2C_COBBOARD_MODE_EJECT);
 			state_do_eject();
+		}
 	}
 }
 
@@ -209,6 +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;