time_reset();
interrupt_traj_reset();
- i2c_cobboard_mode_harvest(I2C_LEFT_SIDE);
- i2c_cobboard_mode_harvest(I2C_RIGHT_SIDE);
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_harvest(I2C_LEFT_SIDE);
+ i2c_cobboard_harvest(I2C_RIGHT_SIDE);
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
/* used in strat_base for END_TIMER */
/* half turn */
trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
err = wait_traj_end(END_INTR|END_TRAJ);
- i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
- i2c_cobboard_mode_pack(I2C_RIGHT_SIDE);
+ i2c_cobboard_pack(I2C_LEFT_SIDE);
+ i2c_cobboard_pack(I2C_RIGHT_SIDE);
trajectory_a_rel(&mainboard.traj, COLOR_A(180));
err = wait_traj_end(END_INTR|END_TRAJ);
/* cob ejection */
trajectory_d_rel(&mainboard.traj, -100);
err = wait_traj_end(END_INTR|END_TRAJ);
- i2c_cobboard_mode_eject();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
time_wait_ms(2000);
trajectory_hardstop(&mainboard.traj);