X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=9908f1a4541317a9f8f7ba06bf0f268ed772d54b;hp=69971391010514021bff9f68018dd2d6ab4f9bf6;hb=d776dc0dab6dd3ddf92041f1ad42e521847ea9cf;hpb=19cd41f7920628a962928580cd1618a1ee5750aa

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 6997139..9908f1a 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -274,6 +274,7 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		/* status */
 		cobboard.mode = ans->mode;
 		cobboard.status = ans->status;
+		cobboard.cob_count = ans->cob_count;
 		cobboard.left_cobroller_speed = ans->left_cobroller_speed;
 		cs_set_consign(&mainboard.left_cobroller.cs, cobboard.left_cobroller_speed);
 		cobboard.right_cobroller_speed = ans->right_cobroller_speed;
@@ -283,6 +284,7 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 	}
 
 	case I2C_ANS_BALLBOARD_STATUS: {
+		uint8_t tmp;
 		struct i2c_ans_ballboard_status * ans =
 			(struct i2c_ans_ballboard_status *)buf;
 
@@ -291,6 +293,12 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		ballboard.mode = ans->mode;
 		ballboard.status = ans->status;
 		ballboard.ball_count = ans->ball_count;
+		tmp = ans->lcob;
+		if (tmp != I2C_COB_NONE)
+			ballboard.lcob = tmp;
+		tmp = ans->rcob;
+		if (tmp != I2C_COB_NONE)
+			ballboard.rcob = tmp;
 		break;
 	}
 
@@ -418,7 +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 |