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[uccvend-snackrom.git] / ROM2 / motors.c

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 13316ff..e7cb6b5 100644 (file)
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -93,35 +93,37 @@ bool is_motor(u8 slot) {
        return motor_here(slot);
 }
 
-bool left_home(u8 slot) {
+bool start_motor(u8 slot) {
        u16 i;
        u8 r = slot%10;
        if (r >= 5) r--; 
        r = 1 << (r-1);
+       motor_on(slot);
+       delay(100);
        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 */
+       motors_off();
        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++) {
-               if ((home_sensors & r) != 0) return 1;
-               if (is_overcurrent()) return MOTOR_CURRENT_FAIL;
+               if ((home_sensors & r) == 0) return 1;
+               delay(1);
        }
 
        /* it never arrived */
        return 0;
 }
 
+#define is_overcurrent() ((_io_ports[M6811_PORTE] & PORTE_MOTOR_NOT_OVERCURRENT)==0)
 bool motor_overcurrent() {
        u8 good_passes = 0, t;
        for (t = 0; t < 8; t++) {
@@ -136,13 +138,7 @@ bool motor_overcurrent() {
 
 u8 dispense_motor(u8 slot) {
        if (!is_motor(slot)) return MOTOR_NOSLOT;
-
-       motor_on(slot);
-
-       if (!left_home(slot)) {
-               motors_off();
-               return MOTOR_HOME_FAIL;
-       }
+       if (!start_motor(slot)) return MOTOR_HOME_FAIL;
 
        while (1) {
                if (motor_overcurrent()) {