X-Git-Url: https://git.ucc.asn.au/?a=blobdiff_plain;f=ROM2%2Fmotors.c;h=e7cb6b50db87f90bf36d531d081b34f9e76e484f;hb=c1fd53d73bce8779c822e3ed74de94f40714f9ca;hp=13316ff610ff04030e7bca3e48f2e3c7cf6f81dd;hpb=c34cbe163ce52f1d8fc553993701054f4942152f;p=uccvend-snackrom.git

diff --git a/ROM2/motors.c b/ROM2/motors.c
index 13316ff..e7cb6b5 100644
--- 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()) {