#define INIT(mode) ((mode) == I2C_COBBOARD_MODE_INIT)
#define HARVEST(mode) ((mode) == I2C_COBBOARD_MODE_HARVEST)
#define EJECT(mode) ((mode) == I2C_COBBOARD_MODE_EJECT)
+#define KICKSTAND_UP(mode) ((mode) == I2C_COBBOARD_MODE_KICKSTAND_UP)
+#define KICKSTAND_DOWN(mode) ((mode) == I2C_COBBOARD_MODE_KICKSTAND_DOWN)
uint8_t state_debug = 0;
return rspickle & I2C_COBBOARD_SPK_NO_MOVE;
}
+uint8_t state_spicklemode_weak(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_WEAK;
+ else
+ return rspickle & I2C_COBBOARD_SPK_WEAK;
+}
+
/* pack/deploy spickles depending on mode */
static void spickle_prepare(uint8_t side)
{
+ /* pack spickle if we are not in harvest mode */
+ if (!HARVEST(state_mode))
+ spickle_pack(side);
+
/* we do nothing in mode no out */
if (state_spicklemode_nomove(side))
return;
shovel_down();
time_wait_ms(250);
shovel_up();
+ /* if eject command is received, force exit */
+ if (EJECT(state_mode))
+ return;
}
state_debug_wait_key_pressed();
state_mode = I2C_COBBOARD_MODE_HARVEST;
}
- /* pack/deply spickles, enable/disable roller */
- cobroller_off(I2C_LEFT_SIDE);
- cobroller_off(I2C_RIGHT_SIDE);
- spickle_prepare(I2C_LEFT_SIDE);
- spickle_prepare(I2C_RIGHT_SIDE);
-
- /* harvest */
- if (cob_count < 5) {
- if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
- state_spicklemode_autoharvest(I2C_LEFT_SIDE))
- state_do_harvest(I2C_LEFT_SIDE);
- if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
- state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
- state_do_harvest(I2C_RIGHT_SIDE);
+ if (HARVEST(state_mode)) {
+ /* init for each loop */
+ shovel_down();
+ servo_carry_close();
+ servo_door_close();
+
+ /* pack/deply spickles, enable/disable roller */
+ cobroller_off(I2C_LEFT_SIDE);
+ cobroller_off(I2C_RIGHT_SIDE);
+ spickle_prepare(I2C_LEFT_SIDE);
+ spickle_prepare(I2C_RIGHT_SIDE);
+
+ /* harvest if not many cobs */
+ if (cob_count < 5) {
+ if (state_spicklemode_deployed(I2C_LEFT_SIDE) &&
+ state_spicklemode_autoharvest(I2C_LEFT_SIDE))
+ state_do_harvest(I2C_LEFT_SIDE);
+ if (state_spicklemode_deployed(I2C_RIGHT_SIDE) &&
+ state_spicklemode_autoharvest(I2C_RIGHT_SIDE))
+ state_do_harvest(I2C_RIGHT_SIDE);
+ }
+ }
+
+ /* help to climb the hill */
+ if (KICKSTAND_UP(state_mode)) {
+ state_status = I2C_COBBOARD_STATUS_KICKSTAND_UP;
+ servo_carry_open();
+ servo_door_open();
+ shovel_kickstand_up();
+ }
+
+ if (KICKSTAND_DOWN(state_mode)) {
+ state_status = I2C_COBBOARD_STATUS_KICKSTAND_DOWN;
+ servo_carry_open();
+ servo_door_open();
+ shovel_kickstand_down();
}
/* eject */