french cup + idf cup

[aversive.git] / projects / microb2010 / ballboard / state.c

diff --git a/projects/microb2010/ballboard/state.c b/projects/microb2010/ballboard/state.c
index 6c229a4..edcfb3a 100644 (file)
--- a/projects/microb2010/ballboard/state.c
+++ b/projects/microb2010/ballboard/state.c
@@ -166,9 +166,15 @@ static void state_do_eject(void)
                blocked = 0;
 
                while (1) {
+                       /* move fork during ball ejection */
+                       if ((us % 600) < 300)
+                               fork_eject();
+                       else
+                               fork_pack();
 
                        /* no more balls (sensor is heavily filtered) */
-                       if (!sensor_get(S_LOW_BARRIER)) {
+                       if (!sensor_get(S_LOW_BARRIER) &&
+                           !sensor_get(S_HIGH_BARRIER)) {
                                STMCH_DEBUG("%s(): no more balls", __FUNCTION__);
                                break;
                        }
@@ -186,6 +192,7 @@ static void state_do_eject(void)
                                break;
                        }
                }
+               fork_pack();
 
                if (!blocked)
                        break;
@@ -246,8 +253,21 @@ void state_machine(void)
 
                case TAKE_FORK:
                        roller_off();
-                       fork_mid();
-                       time_wait_ms(1300);
+                       fork_mid1();
+                       time_wait_ms(666);
+                       fork_mid2();
+                       time_wait_ms(666);
+                       while (1) {
+                               uint8_t packed;
+
+                               fork_pack();
+                               packed = WAIT_COND_OR_TIMEOUT(fork_is_packed(),
+                                                             500);
+                               if (packed)
+                                       break;
+                               fork_mid2();
+                               time_wait_ms(200);
+                       }
                        state_mode = OFF;
                        break;