20100416

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

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index a16675d..389411e 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -86,25 +86,6 @@ static void state_debug_wait_key_pressed(void)
        while(!cmdline_keypressed());
 }
 
-/* return true if cob is present */
-static uint8_t state_cob_present(uint8_t side)
-{
-       if (side == I2C_LEFT_SIDE)
-               return sensor_get(S_LCOB);
-       else
-               return sensor_get(S_RCOB);
-}
-
-/* return the detected color of the cob (only valid if present) */
-static uint8_t state_cob_color(uint8_t side)
-{
-       /* XXX no color sensor for now */
-       if (side == I2C_LEFT_SIDE)
-               return I2C_COB_WHITE;
-       else
-               return I2C_COB_WHITE;
-}
-
 /* return true if the cob is correctly inside */
 static uint8_t state_cob_inside(void)
 {
@@ -186,11 +167,7 @@ static void state_do_harvest(uint8_t side)
                state_status = I2C_COBBOARD_STATUS_RBUSY;
 
        /* if there is no cob, return */
-       if (state_cob_present(side))
-               return;
-
-       /* if it is black, nothing to do */
-       if (state_cob_color(side) == I2C_COB_BLACK)
+       if (cob_falling_edge(side) == 0)
                return;
 
        STMCH_DEBUG("start");
@@ -330,6 +307,7 @@ void state_machine(void)
                        state_do_eject();
                }
        }
+       state_status = I2C_COBBOARD_STATUS_READY;
 }
 
 void state_init(void)