X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fspickle.c;fp=projects%2Fmicrob2010%2Fcobboard%2Fspickle.c;h=7296d8e28afec304687f90e0a37eac19c00944b5;hp=f8e16130a16ebacfa265bf4f641bafdb76db71f8;hb=38196781643cba8e1d681aafb28cdadc51fe20ec;hpb=814b38b326d0b5bf54a26c5eaaa3d94e5c4a9753

diff --git a/projects/microb2010/cobboard/spickle.c b/projects/microb2010/cobboard/spickle.c
index f8e1613..7296d8e 100644
--- a/projects/microb2010/cobboard/spickle.c
+++ b/projects/microb2010/cobboard/spickle.c
@@ -137,7 +137,6 @@ void spickle_set_coefs(uint32_t k1, uint32_t k2)
 	spickle.k2 = k2;
 }
 
-
 void spickle_set_pos(uint8_t side, int32_t pos_packed,
 		     int32_t pos_mid, int32_t pos_deployed)
 {
@@ -159,6 +158,32 @@ void spickle_dump_params(void)
 		 spickle.pos_deployed[I2C_RIGHT_SIDE]);
 }
 
+static uint8_t spickle_is_at_pos(uint8_t side, int32_t pos)
+{
+	int32_t diff;
+	int32_t enc;
+	if (side == I2C_LEFT_SIDE)
+		enc = encoders_spi_get_value(LEFT_SPICKLE_ENCODER);
+	else
+		enc = encoders_spi_get_value(RIGHT_SPICKLE_ENCODER);
+	diff = pos - enc;
+	if (diff < 0)
+		diff = -diff;
+	if (diff < 500)
+		return 1;
+	return 0;
+}
+
+uint8_t spickle_is_packed(uint8_t side)
+{
+	return spickle_is_at_pos(side, spickle.pos_packed[side]);
+}
+
+uint8_t spickle_is_deployed(uint8_t side)
+{
+	return spickle_is_at_pos(side, spickle.pos_deployed[side]);
+}
+
 void spickle_deploy(uint8_t side)
 {
 	cs_set_consign(&spickle.csb[side]->cs, spickle.pos_deployed[side]);