update and reliabilize strats

[aversive.git] / projects / microb2010 / mainboard / robotsim.c

diff --git a/projects/microb2010/mainboard/robotsim.c b/projects/microb2010/mainboard/robotsim.c
index 1b103d8..df8ee0e 100644 (file)
--- a/projects/microb2010/mainboard/robotsim.c
+++ b/projects/microb2010/mainboard/robotsim.c
@@ -105,12 +105,22 @@ robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
 
        ballboard.mode = cmd->mode;
        len = snprintf(buf, sizeof(buf), "ballboard=%d\n", cmd->mode);
+       if (cmd->mode == I2C_BALLBOARD_MODE_EJECT)
+               ballboard.ball_count = 0;
        hostsim_lock();
        write(fdw, buf, len);
        hostsim_unlock();
        return 0;
 }
 
+static int8_t
+robotsim_i2c_cobboard_set_mode(struct i2c_cmd_cobboard_set_mode *cmd)
+{
+       if (cmd->mode == I2C_COBBOARD_MODE_EJECT)
+               cobboard.cob_count = 0;
+       return 0;
+}
+
 int8_t
 robotsim_i2c_cobboard_set_spickles(uint8_t side, uint8_t flags)
 {
@@ -159,17 +169,17 @@ robotsim_i2c_ballboard(uint8_t addr, uint8_t *buf, uint8_t size)
 static int8_t
 robotsim_i2c_cobboard(uint8_t addr, uint8_t *buf, uint8_t size)
 {
-       //      void *void_cmd = buf;
+       void *void_cmd = buf;
 
        switch (buf[0]) {
-#if 0 /* deleted */
+
        case I2C_CMD_COBBOARD_SET_MODE:
                {
                        struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
                        robotsim_i2c_cobboard_set_mode(cmd);
                        break;
                }
-#endif
+
        default:
                break;
        }