X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=33084050186c3e0e9406288604d5c0dd3e98812a;hp=2903a4a0d0b7f0fd5de90e0b979f898e796609c8;hb=0c4732c1e255ea56aa766b772dfdb6be49620830;hpb=a15451f8535228e9193b5dc042929ca0a7f79d9c

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 2903a4a..3308405 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -114,6 +114,13 @@ static uint8_t state_cob_color(uint8_t side)
 		return 0;
 }
 
+/* return true if the cob is correctly inside */
+static uint8_t state_cob_inside(void)
+{
+	return sensor_get(S_COB_INSIDE_L) &&
+		sensor_get(S_COB_INSIDE_R);
+}
+
 /* set a new state, return 0 on success */
 int8_t state_set_mode(uint8_t mode)
 {
@@ -163,23 +170,34 @@ 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);
+
+	WAIT_COND_OR_TIMEOUT(state_cob_inside(), delay);
 
 	/* redeploy the spickle */
 	spickle_deploy(side);
 	state_debug_wait_key_pressed();
 
+	/* let the cob go */
+	servo_carry_open();
+	wait_ms(300); /* XXX */
+	state_debug_wait_key_pressed();
+
 	cob_count ++;
 
 	/* store it */
 	shovel_up();
 	wait_ms(200);
 	state_debug_wait_key_pressed();
+
+	/* close the carry servos */
+	servo_carry_close();
+	wait_ms(300); /* XXX */
+	state_debug_wait_key_pressed();
+
 	shovel_down();
 	left_cobroller_off();
 	state_debug_wait_key_pressed();
@@ -191,10 +209,12 @@ static void state_do_eject(void)
 {
 	cob_count = 0;
 	shovel_mid();
+	servo_carry_open();
 	servo_door_open();
 	time_wait_ms(2000);
 	shovel_down();
 	servo_door_close();
+	servo_carry_close();
 }
 
 /* main state machine */
@@ -246,6 +266,7 @@ void state_init(void)
 	vt100_init(&local_vt100);
 	shovel_down();
 	servo_door_close();
+	servo_carry_close();
 	spickle_pack(I2C_LEFT_SIDE);
 	spickle_pack(I2C_RIGHT_SIDE);
 	state_mode = 0;