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authorJulien Balleyguier2012-05-12 12:37:23 +0200
committerJulien Balleyguier2012-05-12 14:51:04 +0200
commitf5456f4aa1d4ec38fee4190cc8067b5e7de1a459 (patch)
tree08b87bbf7f67248b5a0fadd00fd8fbf459a120ad /digital/io-hub/src/guybrush/main.c
parent669557d59809da7eb74f2437183941be3713f3c6 (diff)
digital/io-hub/src/guybrush/ : Adding a position_to_drop_cd function
This has been done to have a proper signal to tell the bottom clamp it has to open
Diffstat (limited to 'digital/io-hub/src/guybrush/main.c')
-rw-r--r--digital/io-hub/src/guybrush/main.c10
1 files changed, 10 insertions, 0 deletions
diff --git a/digital/io-hub/src/guybrush/main.c b/digital/io-hub/src/guybrush/main.c
index 326cb423..8239b263 100644
--- a/digital/io-hub/src/guybrush/main.c
+++ b/digital/io-hub/src/guybrush/main.c
@@ -106,6 +106,9 @@ static uint8_t main_stats_clamp_zero_last_io_;
/** Clamp zero stats: last position. */
static uint16_t main_stats_clamp_zero_last_position_;
+/** Position to drop CD */
+static int position_to_drop;
+
/** Main initialisation. */
static void
main_init (void)
@@ -176,6 +179,8 @@ main_event_to_fsm (void)
|| !IO_GET (CONTACT_LOWER_CLAMP_SENSOR_3)
|| !IO_GET (CONTACT_LOWER_CLAMP_SENSOR_4))
FSM_HANDLE_E (AI, coin_detected);
+ if ((int16_t) (mimot_get_motor0_position() - position_to_drop) > 0)
+ FSM_HANDLE_E (AI, time_to_drop_coin);
/* Jack. */
if (!contact_get_jack ())
FSM_HANDLE_E (AI, jack_inserted);
@@ -395,6 +400,11 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
#undef c
}
+void main_set_drop_coin_pos(int pos_to_drop)
+{
+ position_to_drop = pos_to_drop;
+}
+
int
main (int argc, char **argv)
{