From: zer0 <zer0@carbon.local>
Date: Fri, 7 May 2010 22:59:55 +0000 (+0200)
Subject: weak pack
X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=commitdiff_plain;h=90945acf48061ebc3960195cabcb11175475e426

weak pack
---

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 84ab748..2335ce3 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -790,6 +790,10 @@ static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 		i2c_cobboard_pack(side);
 	}
+	else if (!strcmp_P(res->arg1, PSTR("pack_weak"))) {
+		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		i2c_cobboard_pack_weak(side);
+	}
 	else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
 		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 		i2c_cobboard_deploy_nomove(side);
@@ -802,7 +806,7 @@ static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 
 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
-prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#pack_weak#harvest_nomove#deploy_nomove";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
 prog_char str_cobboard_setmode2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 3354e39..22970c0 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -431,6 +431,11 @@ int8_t i2c_cobboard_pack(uint8_t side)
 	return i2c_cobboard_set_spickle(side, 0);
 }
 
+int8_t i2c_cobboard_pack_weak(uint8_t side)
+{
+	return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_WEAK);
+}
+
 int8_t i2c_cobboard_autoharvest(uint8_t side)
 {
 	return i2c_cobboard_set_spickle(side,
diff --git a/projects/microb2010/mainboard/i2c_protocol.h b/projects/microb2010/mainboard/i2c_protocol.h
index 06cd47e..b5a8136 100644
--- a/projects/microb2010/mainboard/i2c_protocol.h
+++ b/projects/microb2010/mainboard/i2c_protocol.h
@@ -37,6 +37,7 @@ int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state);
 
 int8_t i2c_cobboard_set_mode(uint8_t mode);
 int8_t i2c_cobboard_pack(uint8_t side);
+int8_t i2c_cobboard_pack_weak(uint8_t side);
 int8_t i2c_cobboard_autoharvest(uint8_t side);
 int8_t i2c_cobboard_deploy(uint8_t side);
 int8_t i2c_cobboard_autoharvest_nomove(uint8_t side);
diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index ad37ec4..883ce65 100644
--- a/projects/microb2010/mainboard/strat.c
+++ b/projects/microb2010/mainboard/strat.c
@@ -69,7 +69,7 @@
 #define COL_SCAN_PRE_MARGIN 250
 
 static volatile uint8_t strat_running = 0;
-static volatile uint8_t want_pack = 0;
+volatile uint8_t strat_want_pack = 0;
 volatile uint8_t strat_lpack60 = 0;
 volatile uint8_t strat_rpack60 = 0;
 struct strat_conf strat_conf;
@@ -225,7 +225,7 @@ static void check_corn(void)
 
 	/* control the cobboard mode for left spickle */
 	if (lcob_near && strat_db.corn_table[lidx]->present) {
-		if (get_cob_count() >= 5 || want_pack || strat_lpack60) {
+		if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60) {
 			/* nothing  */
 		}
 		else {
@@ -241,15 +241,15 @@ static void check_corn(void)
 	}
 	else {
 		/* no cob near us, we can pack or deploy freely */
-		if (get_cob_count() >= 5 || want_pack || strat_lpack60)
-			i2c_cobboard_pack(I2C_LEFT_SIDE);
+		if (get_cob_count() >= 5 || strat_want_pack || strat_lpack60)
+			i2c_cobboard_pack_weak(I2C_LEFT_SIDE);
 		else
 			i2c_cobboard_deploy(I2C_LEFT_SIDE);
 	}
 
 	/* control the cobboard mode for right spickle */
 	if (rcob_near && strat_db.corn_table[ridx]->present) {
-		if (get_cob_count() >= 5 || want_pack || strat_rpack60) {
+		if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60) {
 			/* nothing */
 		}
 		else {
@@ -265,8 +265,8 @@ static void check_corn(void)
 	}
 	else {
 		/* no cob near us, we can pack or deploy freely */
-		if (get_cob_count() >= 5 || want_pack || strat_rpack60)
-			i2c_cobboard_pack(I2C_RIGHT_SIDE);
+		if (get_cob_count() >= 5 || strat_want_pack || strat_rpack60)
+			i2c_cobboard_pack_weak(I2C_RIGHT_SIDE);
 		else
 			i2c_cobboard_deploy(I2C_RIGHT_SIDE);
 	}
@@ -302,7 +302,7 @@ static uint8_t strat_eject(void)
 	err = WAIT_COND_OR_TRAJ_END(get_cob_count() >= 5,
 				    TRAJ_FLAGS_NO_NEAR);
 	if (err == 0) {
-		want_pack = 1;
+		strat_want_pack = 1;
 		strat_set_speed(SPEED_CLITOID_FAST, SPEED_ANGLE_SLOW);
 		err = wait_traj_end(TRAJ_FLAGS_NO_NEAR);
 	}
@@ -341,7 +341,7 @@ static uint8_t strat_eject(void)
 	time_wait_ms(2000);
 
 	strat_event_enable();
-	want_pack = 0;
+	strat_want_pack = 0;
 	return 0;
 }