X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=ROM2%2Fmotors.c;h=64158ae56ab5e22b99ca93aae1123661cea2336f;hb=deac3b8b66af0f499d6da73cf5bf8479c7d9fad9;hp=674483942718d3eec5d474fe3da9eee7a480157c;hpb=f454d8fbc15ff6516ba574e23692e8a65b9f16fd;p=uccvend-snackrom.git

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 6744839..64158ae 100644
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -1,6 +1,20 @@
 #include "motors.h"
 #include "vend.h"
 
+const u8 motor_lookup[80] = 
+{ 1,12,23,34,46,57,68,79,
+ 11,22,33,44,56,67,78,89,
+ 21,32,43,54,66,77,88,99,
+ 31,42,53,64,76,87,98,
+  9,41,52,63,74,86,97,
+  8,19,51,62,73,84,96,
+  7,18,29,61,72,83,94,
+  6,17,28,39,71,82,93,
+  4,16,27,38,49,81,92,
+  3,14,26,37,48,59,91,
+  2,13,24,36,47,58,69,
+};
+
 void motor_shift_send(u8 data) {
 	u8 i;
 	/* load it in, MSB first */
@@ -10,9 +24,13 @@ void motor_shift_send(u8 data) {
 		else
 			bclr_misc_output(A3800_MOTOR_DATA);
 
+		delay(1);
+
 		/* clock pulse */
 		bset((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+		delay(1);
 		bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+		delay(1);
 		
 		data = data << 1;
 	}
@@ -37,6 +55,7 @@ void motor_on(u8 slot) {
 			break;
 		default: /* < 8 */
 			motor_shift_send(1 << col); /* cols from 0..7 */
+			bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_COL_DISABLE);
 	}
 
 	motor_shift_send(1 << (row-1)); /* rows from 1..8 here */
@@ -78,10 +97,10 @@ bool is_motor(u8 slot) {
 bool left_home(u8 slot) {
 	u8 i, r = slot%10;
 	if (r >= 5) r--; 
-	r = 1 << r;
+	r = 1 << (r-1);
 
 	for (i = 0; i < 5; i++)
-		if (home_sensors & r == 0) return 1;
+		if ((home_sensors & r) == 0) return 1;
 
 	/* it never left */
 	return 0;
@@ -90,11 +109,11 @@ bool left_home(u8 slot) {
 bool back_home(u8 slot) {
 	u8 i, r = slot%10;
 	if (r >= 5) r--; 
-	r = 1 << 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 ((_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERCURRENT) == 0) return 1;
 	}
 
 	/* it never left */
@@ -114,9 +133,10 @@ bool motor_overcurrent() {
 }
 
 u8 dispense_motor(u8 slot) {
-	if (!is_motor(slot)) return MOTOR_NOSLOT;
+	//if (!is_motor(slot)) return MOTOR_NOSLOT;
 
 	motor_on(slot);
+	delay(100);
 	
 	if (!left_home(slot)) {
 		motors_off();