X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;fp=projects%2Fmicrob2010%2Fcobboard%2Fstate.c;h=4c9651edc5230bf606ced0f01c4952dd71edf985;hp=d02e54440a0aca434409f4748e1680fd5c1c6aad;hb=4fb57a4dab8bd564445e824696a2dab470af8628;hpb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48

diff --git a/projects/microb2010/cobboard/state.c b/projects/microb2010/cobboard/state.c
index d02e544..4c9651e 100644
--- a/projects/microb2010/cobboard/state.c
+++ b/projects/microb2010/cobboard/state.c
@@ -68,6 +68,7 @@ static uint8_t cob_count;
 #define R_HARVEST(mode)  (!!((mode) & I2C_COBBOARD_MODE_R_HARVEST))
 #define HARVEST(side, mode) ((side) == I2C_LEFT_SIDE ? L_HARVEST(mode) : R_HARVEST(mode))
 #define EJECT(mode)      (!!((mode) & I2C_COBBOARD_MODE_EJECT))
+#define INIT(mode)       (!!((mode) & I2C_COBBOARD_MODE_INIT))
 
 uint8_t state_debug = 0;
 
@@ -78,6 +79,11 @@ static void state_dump_sensors(void)
 }
 #endif
 
+uint8_t state_get_cob_count(void)
+{
+	return cob_count;
+}
+
 static void state_debug_wait_key_pressed(void)
 {
 	if (!state_debug)
@@ -187,10 +193,20 @@ void state_machine(void)
 {
 	while (state_want_exit() == 0) {
 
+		/* init */
+		if (INIT(state_mode)) {
+			state_mode &= (~I2C_COBBOARD_MODE_INIT);
+			state_init();
+		}
+
 		/* pack spickles */
-		if (!L_DEPLOY(state_mode))
+		if (L_DEPLOY(state_mode))
+			spickle_deploy(I2C_LEFT_SIDE);
+		else
 			spickle_pack(I2C_LEFT_SIDE);
-		if (!R_DEPLOY(state_mode))
+		if (R_DEPLOY(state_mode))
+			spickle_deploy(I2C_RIGHT_SIDE);
+		else
 			spickle_pack(I2C_RIGHT_SIDE);
 
 		/* harvest */
@@ -200,8 +216,10 @@ void state_machine(void)
 			state_do_harvest(I2C_RIGHT_SIDE);
 
 		/* eject */
-		if (EJECT(state_mode))
+		if (EJECT(state_mode)) {
+			state_mode &= (~I2C_COBBOARD_MODE_EJECT);
 			state_do_eject();
+		}
 	}
 }