X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=d310168dab210cbf05fc7f4601785d8638a68e2d;hp=a16675d0e246d1e767de197cade0c4fa382354d1;hb=78150017ab8c5615af414df706a0525fe7c262ae;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index a16675d..d310168 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -86,25 +86,6 @@ static void state_debug_wait_key_pressed(void)
 	while(!cmdline_keypressed());
 }
 
-/* return true if cob is present */
-static uint8_t state_cob_present(uint8_t side)
-{
-	if (side == I2C_LEFT_SIDE)
-		return sensor_get(S_LCOB);
-	else
-		return sensor_get(S_RCOB);
-}
-
-/* return the detected color of the cob (only valid if present) */
-static uint8_t state_cob_color(uint8_t side)
-{
-	/* XXX no color sensor for now */
-	if (side == I2C_LEFT_SIDE)
-		return I2C_COB_WHITE;
-	else
-		return I2C_COB_WHITE;
-}
-
 /* return true if the cob is correctly inside */
 static uint8_t state_cob_inside(void)
 {
@@ -186,11 +167,7 @@ static void state_do_harvest(uint8_t side)
 		state_status = I2C_COBBOARD_STATUS_RBUSY;
 
 	/* 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)
+	if (cob_falling_edge(side) == 0)
 		return;
 
 	STMCH_DEBUG("start");
@@ -256,7 +233,7 @@ static void state_do_harvest(uint8_t side)
 	/* store it */
 	shovel_up();
 
-	while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 400) == 0) {
+	while (WAIT_COND_OR_TIMEOUT(shovel_is_up(), 600) == 0) {
 		STMCH_DEBUG("shovel blocked");
 		shovel_down();
 		time_wait_ms(250);
@@ -330,6 +307,7 @@ void state_machine(void)
 			state_do_eject();
 		}
 	}
+	state_status = I2C_COBBOARD_STATUS_READY;
 }
 
 void state_init(void)