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don't eject when no ball/cob
author
zer0
<zer0@carbon.local>
Fri, 7 May 2010 23:35:53 +0000
(
01:35
+0200)
committer
zer0
<zer0@carbon.local>
Fri, 7 May 2010 23:35:53 +0000
(
01:35
+0200)
projects/microb2010/mainboard/strat.c
patch
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diff --git
a/projects/microb2010/mainboard/strat.c
b/projects/microb2010/mainboard/strat.c
index
b49cc7d
..
152c173
100644
(file)
--- a/
projects/microb2010/mainboard/strat.c
+++ b/
projects/microb2010/mainboard/strat.c
@@
-311,29
+311,31
@@
static uint8_t strat_eject(void)
/* pack arms */
strat_event_disable();
/* pack arms */
strat_event_disable();
- i2c_cobboard_pack(I2C_LEFT_SIDE);
- i2c_cobboard_pack(I2C_RIGHT_SIDE);
+ i2c_cobboard_pack
_weak
(I2C_LEFT_SIDE);
+ i2c_cobboard_pack
_weak
(I2C_RIGHT_SIDE);
/* ball ejection */
/* ball ejection */
- i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
- trajectory_a_abs(&mainboard.traj, COLOR_A(70));
- err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
- if (!TRAJ_SUCCESS(err))
- goto fail;
+ if (get_ball_count() > 0) {
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ trajectory_a_abs(&mainboard.traj, COLOR_A(70));
+ err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
+ if (!TRAJ_SUCCESS(err))
+ goto fail;
- DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
- strat_hardstop();
+
DEBUG(E_USER_STRAT, "%s():%d", __FUNCTION__, __LINE__);
+
strat_hardstop();
#ifdef HOST_VERSION
#ifdef HOST_VERSION
- time_wait_ms(2000);
+
time_wait_ms(2000);
#else
#else
- WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
- 2000);
- WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
- 2000);
+
WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_BUSY,
+
2000);
+
WAIT_COND_OR_TIMEOUT(ballboard.status == I2C_BALLBOARD_STATUS_F_READY,
+
2000);
#endif
#endif
+ }
/* half turn */
/* half turn */
- trajectory_a_
rel(&mainboard.traj, COLOR_A(18
0));
+ trajectory_a_
abs(&mainboard.traj, COLOR_A(-11
0));
err = wait_traj_end(END_INTR|END_TRAJ);
if (!TRAJ_SUCCESS(err))
goto fail;
err = wait_traj_end(END_INTR|END_TRAJ);
if (!TRAJ_SUCCESS(err))
goto fail;
@@
-344,9
+346,11
@@
static uint8_t strat_eject(void)
if (!TRAJ_SUCCESS(err))
goto fail;
if (!TRAJ_SUCCESS(err))
goto fail;
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
- strat_db_dump(__FUNCTION__);
- time_wait_ms(2000);
+ if (get_cob_count() > 0) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+ strat_db_dump(__FUNCTION__);
+ time_wait_ms(2000);
+ }
err = END_TRAJ;
err = END_TRAJ;