X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=2d652082bf9e427de6b7810abff647064315f456;hp=e315da0f1171ad07681f81c52fc95fe24a4e9ad9;hb=28da5858ac871c626153f47566e968ecb05ff52b;hpb=38196781643cba8e1d681aafb28cdadc51fe20ec

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index e315da0..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;
 
@@ -120,9 +122,21 @@ static uint8_t state_spicklemode_nomove(uint8_t side)
 		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)
 {
+	/* pack spickle if we are not in harvest mode */
+	if (!HARVEST(state_mode))
+		spickle_pack(side);
+
 	/* we do nothing in mode no out */
 	if (state_spicklemode_nomove(side))
 		return;
@@ -329,22 +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 (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
-			    state_spicklemode_autoharvest(I2C_LEFT_SIDE) &&
-			    !state_spicklemode_nomove(I2C_LEFT_SIDE))
-				state_do_harvest(I2C_LEFT_SIDE);
-			if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
-			    state_spicklemode_autoharvest(I2C_RIGHT_SIDE) &&
-			    !state_spicklemode_nomove(I2C_RIGHT_SIDE))
-				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 */