kickstand

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

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index 4eef55f..d9e6533 100644 (file)
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -66,6 +66,7 @@ static uint8_t cob_count;
 #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;
 
@@ -131,6 +132,10 @@ uint8_t state_spicklemode_weak(uint8_t side)
 /* pack/deploy spickles depending on mode */
 static void spickle_prepare(uint8_t side)
 {
+       /* pack spickle if we are not in harvest mode */
+       if (!HARVEST(state_mode))
+               spickle_pack(side);
+
        /* we do nothing in mode no out */
        if (state_spicklemode_nomove(side))
                return;
@@ -337,20 +342,36 @@ void state_machine(void)
                        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 (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);
+               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 */