git.ucc.asn.au
/
uccvend-snackrom.git
/ blobdiff
commit
grep
author
committer
pickaxe
?
search:
re
summary
|
shortlog
|
log
|
commit
|
commitdiff
|
tree
raw
|
inline
| side by side
To romO
[uccvend-snackrom.git]
/
ROM2
/
motors.c
diff --git
a/ROM2/motors.c
b/ROM2/motors.c
index
64158ae
..
13316ff
100644
(file)
--- a/
ROM2/motors.c
+++ b/
ROM2/motors.c
@@
-73,19
+73,18
@@
void motors_off() {
bool motor_here(u8 slot) {
u8 i, c = 0;
bool motor_here(u8 slot) {
u8 i, c = 0;
- motor_on(slot);
for (i=0; i < 8; i++) {
for (i=0; i < 8; i++) {
+ motor_on(slot);
delay(5);
delay(5);
- if (
_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE
) {
+ if (
(_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) == 0
) {
c++;
c++;
- if (c ==
0xff
) {
+ if (c ==
3
) {
motors_off();
return 1;
motors_off();
return 1;
- } else
- continue;
+ }
}
}
+ motors_off();
}
}
- motors_off();
return 0;
}
return 0;
}
@@
-95,49
+94,51
@@
bool is_motor(u8 slot) {
}
bool left_home(u8 slot) {
}
bool left_home(u8 slot) {
- u8 i, r = slot%10;
+ u16 i;
+ u8 r = slot%10;
if (r >= 5) r--;
r = 1 << (r-1);
if (r >= 5) r--;
r = 1 << (r-1);
-
- for (i = 0; i < 5; i++)
+ for (i = 0; i < 1000; i++) {
if ((home_sensors & r) == 0) return 1;
if ((home_sensors & r) == 0) return 1;
-
+ delay(1);
+ }
/* it never left */
return 0;
}
/* it never left */
return 0;
}
+#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==0)
+
bool back_home(u8 slot) {
u8 i, r = slot%10;
if (r >= 5) r--;
r = 1 << (r-1);
for (i = 0; i < 5; i++) {
bool back_home(u8 slot) {
u8 i, r = slot%10;
if (r >= 5) r--;
r = 1 << (r-1);
for (i = 0; i < 5; i++) {
- if (
home_sensors & r
) return 1;
- if (
(_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT) == 0) return 1
;
+ if (
(home_sensors & r) != 0
) return 1;
+ if (
is_overcurrent()) return MOTOR_CURRENT_FAIL
;
}
}
- /* it never
left
*/
+ /* it never
arrived
*/
return 0;
}
bool motor_overcurrent() {
return 0;
}
bool motor_overcurrent() {
- u8 t = 0, i = 0;
- while(1) {
- t++;
- if (7 == t) return 1;
- if (_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT) continue;
+ u8 good_passes = 0, t;
+ for (t = 0; t < 8; t++) {
+ delay(1);
+ if (is_overcurrent()) continue;
t = 0;
t = 0;
-
i
++;
- if (
5 == i
) return 0;
+
good_passes
++;
+ if (
good_passes == 5
) return 0;
}
}
+ return 1;
}
u8 dispense_motor(u8 slot) {
}
u8 dispense_motor(u8 slot) {
-
//
if (!is_motor(slot)) return MOTOR_NOSLOT;
+ if (!is_motor(slot)) return MOTOR_NOSLOT;
motor_on(slot);
motor_on(slot);
- delay(100);
-
+
if (!left_home(slot)) {
motors_off();
return MOTOR_HOME_FAIL;
if (!left_home(slot)) {
motors_off();
return MOTOR_HOME_FAIL;
UCC
git Repository :: git.ucc.asn.au