return 0;
}
+/* return true if the cob is correctly inside */
+static uint8_t state_cob_inside(void)
+{
+ return sensor_get(S_COB_INSIDE_L) &&
+ sensor_get(S_COB_INSIDE_R);
+}
+
/* set a new state, return 0 on success */
int8_t state_set_mode(uint8_t mode)
{
/* eat the cob */
spickle_pack(side);
- state_debug_wait_key_pressed();
/* xxx */
time_wait_ms(250);
left_cobroller_on();
delay = spickle_get_pack_delay(side);
- time_wait_ms(delay);
+
+ WAIT_COND_OR_TIMEOUT(state_cob_inside(), delay);
/* redeploy the spickle */
spickle_deploy(side);
state_debug_wait_key_pressed();
+ /* let the cob go */
+ servo_carry_open();
+ wait_ms(300); /* XXX */
+ state_debug_wait_key_pressed();
+
cob_count ++;
/* store it */
shovel_up();
wait_ms(200);
state_debug_wait_key_pressed();
+
+ /* close the carry servos */
+ servo_carry_close();
+ wait_ms(300); /* XXX */
+ state_debug_wait_key_pressed();
+
shovel_down();
left_cobroller_off();
state_debug_wait_key_pressed();
{
cob_count = 0;
shovel_mid();
+ servo_carry_open();
servo_door_open();
time_wait_ms(2000);
shovel_down();
servo_door_close();
+ servo_carry_close();
}
/* main state machine */
vt100_init(&local_vt100);
shovel_down();
servo_door_close();
+ servo_carry_close();
spickle_pack(I2C_LEFT_SIDE);
spickle_pack(I2C_RIGHT_SIDE);
state_mode = 0;