don't eject when no ball/cob

diff --git a/projects/microb2010/mainboard/strat.c b/projects/microb2010/mainboard/strat.c
index b49cc7db55383ff8347540339b533303a9251df8..152c1735a86a3e0ea094bb15cc5200643cce3f73 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();
-       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 */
-       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
-       time_wait_ms(2000);
+               time_wait_ms(2000);
 #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
+       }
 
        /* half turn */
-       trajectory_a_rel(&mainboard.traj, COLOR_A(180));
+       trajectory_a_abs(&mainboard.traj, COLOR_A(-110));
        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;
 
-       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;