X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=2d652082bf9e427de6b7810abff647064315f456;hp=86afce990fea8ec6fcea5d759823df107cdcf6b6;hb=28da5858ac871c626153f47566e968ecb05ff52b;hpb=73d45a0214ee8e45bad26fbca673edc77a7656a2

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 86afce9..2d65208 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -66,6 +66,8 @@ static uint8_t cob_count;
 #define INIT(mode)       ((mode) == I2C_COBBOARD_MODE_INIT)
 #define HARVEST(mode)    ((mode) == I2C_COBBOARD_MODE_HARVEST)
 #define EJECT(mode)      ((mode) == I2C_COBBOARD_MODE_EJECT)
+#define KICKSTAND_UP(mode)    ((mode) == I2C_COBBOARD_MODE_KICKSTAND_UP)
+#define KICKSTAND_DOWN(mode)  ((mode) == I2C_COBBOARD_MODE_KICKSTAND_DOWN)
 
 uint8_t state_debug = 0;
 
@@ -96,7 +98,7 @@ static uint8_t state_no_cob_inside(void)
 		!sensor_get(S_COB_INSIDE_R);
 }
 
-static uint8_t is_deployed(uint8_t side)
+static uint8_t state_spicklemode_deployed(uint8_t side)
 {
 	if (side == I2C_LEFT_SIDE)
 		return lspickle & I2C_COBBOARD_SPK_DEPLOY;
@@ -104,7 +106,7 @@ static uint8_t is_deployed(uint8_t side)
 		return rspickle & I2C_COBBOARD_SPK_DEPLOY;
 }
 
-static uint8_t is_autoharvest(uint8_t side)
+static uint8_t state_spicklemode_autoharvest(uint8_t side)
 {
 	if (side == I2C_LEFT_SIDE)
 		return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
@@ -112,14 +114,34 @@ static uint8_t is_autoharvest(uint8_t side)
 		return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
 }
 
+static uint8_t state_spicklemode_nomove(uint8_t side)
+{
+	if (side == I2C_LEFT_SIDE)
+		return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
+	else
+		return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
+}
+
+uint8_t state_spicklemode_weak(uint8_t side)
+{
+	if (side == I2C_LEFT_SIDE)
+		return lspickle & I2C_COBBOARD_SPK_WEAK;
+	else
+		return rspickle & I2C_COBBOARD_SPK_WEAK;
+}
+
 /* pack/deploy spickles depending on mode */
 static void spickle_prepare(uint8_t side)
 {
-	if (cob_count >= 5)
+	/* pack spickle if we are not in harvest mode */
+	if (!HARVEST(state_mode))
 		spickle_pack(side);
-	else if (is_deployed(side) && !is_autoharvest(side))
-		spickle_deploy(side); /*spickle_mid(side);*/
-	else if (is_deployed(side) && is_autoharvest(side))
+
+	/* we do nothing in mode no out */
+	if (state_spicklemode_nomove(side))
+		return;
+
+	if (state_spicklemode_deployed(side))
 		spickle_deploy(side);
 	else
 		spickle_pack(side);
@@ -247,12 +269,15 @@ static void state_do_harvest(uint8_t side)
 	cobroller_off(side);
 	cob_count ++;
 
+	state_debug_wait_key_pressed();
+
 	/* last cob, nothing to do */
 	if (cob_count == 5)
 		return;
 
-	/* redeploy the spickle */
-	spickle_deploy(side);
+	/* redeploy the spickle if there is a black cob */
+	if (!state_spicklemode_nomove(side))
+		spickle_deploy(side);
 	state_debug_wait_key_pressed();
 
 	/* let the loaded cobs go */
@@ -318,20 +343,42 @@ void state_machine(void)
 			state_mode = I2C_COBBOARD_MODE_HARVEST;
 		}
 
-		/* pack/deply spickles, enable/disable roller */
-		cobroller_off(I2C_LEFT_SIDE);
-		cobroller_off(I2C_RIGHT_SIDE);
-		spickle_prepare(I2C_LEFT_SIDE);
-		spickle_prepare(I2C_RIGHT_SIDE);
-
-		/* harvest */
-		if (cob_count < 5) {
-			if ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
-			    (lspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
-				state_do_harvest(I2C_LEFT_SIDE);
-			if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
-			    (rspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
-				state_do_harvest(I2C_RIGHT_SIDE);
+		if (HARVEST(state_mode)) {
+			/* init for each loop */
+			shovel_down();
+			servo_carry_close();
+			servo_door_close();
+
+			/* pack/deply spickles, enable/disable roller */
+			cobroller_off(I2C_LEFT_SIDE);
+			cobroller_off(I2C_RIGHT_SIDE);
+			spickle_prepare(I2C_LEFT_SIDE);
+			spickle_prepare(I2C_RIGHT_SIDE);
+
+			/* harvest if not many cobs */
+			if (cob_count < 5) {
+				if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+				    state_spicklemode_autoharvest(I2C_LEFT_SIDE))
+					state_do_harvest(I2C_LEFT_SIDE);
+				if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
+				    state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
+					state_do_harvest(I2C_RIGHT_SIDE);
+			}
+		}
+
+		/* help to climb the hill */
+		if (KICKSTAND_UP(state_mode)) {
+			state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
+			servo_carry_open();
+			servo_door_open();
+			shovel_kickstand_up();
+		}
+
+		if (KICKSTAND_DOWN(state_mode)) {
+			state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
+			servo_carry_open();
+			servo_door_open();
+			shovel_kickstand_down();
 		}
 
 		/* eject */