X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=7a2c3780f43a196947f1e3d197d5b5580f2d5b3e;hp=d264622671c3e89fa013e9f7f13f15804a249fe3;hb=17aadc4c8c3e60c2b5e6bbba91c8542849addbd7;hpb=9d056416278ae5d772a0fc1f7d2d11a4461fb673

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index d264622..7a2c378 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -426,7 +426,7 @@ int8_t i2c_cobboard_pack(uint8_t side)
 	return i2c_cobboard_set_spickle(side, 0);
 }
 
-int8_t i2c_cobboard_harvest(uint8_t side)
+int8_t i2c_cobboard_autoharvest(uint8_t side)
 {
 	return i2c_cobboard_set_spickle(side,
 					I2C_COBBOARD_SPK_DEPLOY |
@@ -438,6 +438,20 @@ int8_t i2c_cobboard_deploy(uint8_t side)
 	return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
 }
 
+int8_t i2c_cobboard_autoharvest_nomove(uint8_t side)
+{
+	return i2c_cobboard_set_spickle(side,
+					I2C_COBBOARD_SPK_DEPLOY |
+					I2C_COBBOARD_SPK_AUTOHARVEST |
+					I2C_COBBOARD_SPK_NO_MOVE);
+}
+
+int8_t i2c_cobboard_deploy_nomove(uint8_t side)
+{
+	return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+					I2C_COBBOARD_SPK_NO_MOVE);
+}
+
 int8_t i2c_ballboard_set_mode(uint8_t mode)
 {
 	struct i2c_cmd_ballboard_set_mode buf;