X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=86afce990fea8ec6fcea5d759823df107cdcf6b6;hp=df0e4c66c69a68d2407dc58b46482d50970ea946;hb=73d45a0214ee8e45bad26fbca673edc77a7656a2;hpb=d10eb76208e401ae2c4dc44de2f96cdcf2e7e4ac

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index df0e4c6..86afce9 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -118,7 +118,7 @@ static void spickle_prepare(uint8_t side)
 	if (cob_count >= 5)
 		spickle_pack(side);
 	else if (is_deployed(side) && !is_autoharvest(side))
-		spickle_mid(side);
+		spickle_deploy(side); /*spickle_mid(side);*/
 	else if (is_deployed(side) && is_autoharvest(side))
 		spickle_deploy(side);
 	else
@@ -206,7 +206,7 @@ static void state_do_harvest(uint8_t side)
 	/* eat the cob */
 	spickle_pack(side);
 
-	time_wait_ms(250);
+	time_wait_ms(200);
 	cobroller_on(side);
 
 	/* check that cob is correctly in place */
@@ -314,8 +314,8 @@ void state_machine(void)
 
 		/* init */
 		if (INIT(state_mode)) {
-			state_mode = I2C_COBBOARD_MODE_HARVEST;
 			state_init();
+			state_mode = I2C_COBBOARD_MODE_HARVEST;
 		}
 
 		/* pack/deply spickles, enable/disable roller */