#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(mode) ((mode) == I2C_COBBOARD_MODE_KICKSTAND)
uint8_t state_debug = 0;
!sensor_get(S_COB_INSIDE_R);
}
-static uint8_t is_deployed(uint8_t side)
+static uint8_t state_spicklemode_deployed(uint8_t side)
{
if (side == I2C_LEFT_SIDE)
return lspickle & I2C_COBBOARD_SPK_DEPLOY;
return rspickle & I2C_COBBOARD_SPK_DEPLOY;
}
-static uint8_t is_autoharvest(uint8_t side)
+static uint8_t state_spicklemode_autoharvest(uint8_t side)
{
if (side == I2C_LEFT_SIDE)
return lspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
return rspickle & I2C_COBBOARD_SPK_AUTOHARVEST;
}
+static uint8_t state_spicklemode_nomove(uint8_t side)
+{
+ if (side == I2C_LEFT_SIDE)
+ return lspickle & I2C_COBBOARD_SPK_NO_MOVE;
+ else
+ 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)
{
- if (cob_count >= 5)
+ /* pack spickle if we are not in harvest mode */
+ if (!HARVEST(state_mode))
spickle_pack(side);
- else if (is_deployed(side) && !is_autoharvest(side))
- spickle_deploy(side); /*spickle_mid(side);*/
- else if (is_deployed(side) && is_autoharvest(side))
+
+ /* we do nothing in mode no out */
+ if (state_spicklemode_nomove(side))
+ return;
+
+ if (state_spicklemode_deployed(side))
spickle_deploy(side);
else
spickle_pack(side);
cobroller_off(side);
cob_count ++;
+ state_debug_wait_key_pressed();
+
/* last cob, nothing to do */
if (cob_count == 5)
return;
- /* redeploy the spickle */
- spickle_deploy(side);
+ /* redeploy the spickle if there is a black cob */
+ if (!state_spicklemode_nomove(side))
+ spickle_deploy(side);
state_debug_wait_key_pressed();
/* let the loaded cobs go */
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 ((lspickle & I2C_COBBOARD_SPK_DEPLOY) &&
- (lspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
- state_do_harvest(I2C_LEFT_SIDE);
- if ((rspickle & I2C_COBBOARD_SPK_DEPLOY) &&
- (rspickle & I2C_COBBOARD_SPK_AUTOHARVEST))
- state_do_harvest(I2C_RIGHT_SIDE);
+ if (HARVEST(state_mode)) {
+ /* init for each loop */
+ shovel_down();
+ servo_carry_close();
+ servo_door_close();
+ shovel_current_limit_enable(0);
+
+ /* 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(state_mode)) {
+ servo_carry_open();
+ servo_door_open();
+ shovel_current_limit_enable(1);
+ shovel_kickstand();
}
/* eject */