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More things to hopefully make this work.
[uccvend-snackrom.git]
/
ROM2
/
motors.c
diff --git
a/ROM2/motors.c
b/ROM2/motors.c
index
64158ae
..
e7cb6b5
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;
}
@@
-94,15
+93,19
@@
bool is_motor(u8 slot) {
return motor_here(slot);
}
return motor_here(slot);
}
-bool left_home(u8 slot) {
- u8 i, r = slot%10;
+bool start_motor(u8 slot) {
+ 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++)
- if ((home_sensors & r) == 0) return 1;
-
+ motor_on(slot);
+ delay(100);
+ for (i = 0; i < 1000; i++) {
+ if ((home_sensors & r) != 0) return 1;
+ delay(1);
+ }
/* it never left */
/* it never left */
+ motors_off();
return 0;
}
return 0;
}
@@
-112,36
+115,30
@@
bool back_home(u8 slot) {
r = 1 << (r-1);
for (i = 0; i < 5; i++) {
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;
+
delay(1)
;
}
}
- /* it never
left
*/
+ /* it never
arrived
*/
return 0;
}
return 0;
}
+#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==0)
bool motor_overcurrent() {
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;
-
- motor_on(slot);
- delay(100);
-
- if (!left_home(slot)) {
- motors_off();
- return MOTOR_HOME_FAIL;
- }
+ if (!is_motor(slot)) return MOTOR_NOSLOT;
+ if (!start_motor(slot)) return MOTOR_HOME_FAIL;
while (1) {
if (motor_overcurrent()) {
while (1) {
if (motor_overcurrent()) {
UCC
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