X-Git-Url: https://git.ucc.asn.au/?p=uccvend-snackrom.git;a=blobdiff_plain;f=ROM2%2Fmotors.c;h=efed7cc73a85255be7cdacc015db394cc2b4c104;hp=e7cb6b50db87f90bf36d531d081b34f9e76e484f;hb=f5bc521c83d95d35e852747402a44d1411252c2b;hpb=17af89d1b2f699e0fc9dbe6132b6b8e0c6c81068

diff --git a/ROM2/motors.c b/ROM2/motors.c
index e7cb6b5..efed7cc 100644
--- a/ROM2/motors.c
+++ b/ROM2/motors.c
@@ -36,7 +36,7 @@ void motor_shift_send(u8 data) {
 	}
 }
 
-void motor_on(u8 slot) {
+void set_motor(u8 slot) {
 	u8 row, col;
 	row = slot%10;
 	col = slot/10;
@@ -61,30 +61,38 @@ void motor_on(u8 slot) {
 	motor_shift_send(1 << (row-1)); /* rows from 1..8 here */
 
 	bclr((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_CLOCK);
+}
+
+void motor_start() {
 	bclr_changer_output(A3000_MOTOR_ROW_DISABLE);
 }
 
-void motors_off() {
+void motor_pause() {
+	bset_changer_output(A3000_MOTOR_ROW_DISABLE);
+}
+
+void motor_stop() {
 	bset_changer_output(A3000_MOTOR_ROW_DISABLE);
-	delay(10); /* XXX cf motors_off */
 	bset((void*)&_io_ports[M6811_PORTA], PORTA_MOTOR_COL_DISABLE);
 	bclr_misc_output(A3800_MOTOR_COL8_ENABLE | A3800_MOTOR_COL9_ENABLE);
 }
 
 bool motor_here(u8 slot) {
 	u8 i, c = 0;
+	set_motor(slot);
 	for (i=0; i < 8; i++) {
-		motor_on(slot);
+		motor_start();
 		delay(5);
 		if ((_io_ports[M6811_PORTE] & PORTE_MOTOR_OVERVOLTAGE) == 0) {
 			c++;
 			if (c == 3) {
-				motors_off();
+				motor_stop();
 				return 1;
 			}
 		}
-		motors_off();
+		motor_pause();
 	}
+	motor_stop();
 	return 0;
 }
 
@@ -98,14 +106,15 @@ bool start_motor(u8 slot) {
 	u8 r = slot%10;
 	if (r >= 5) r--; 
 	r = 1 << (r-1);
-	motor_on(slot);
-	delay(100);
+	set_motor(slot);
+	motor_start();
+	delay(50);
 	for (i = 0; i < 1000; i++) {
 		if ((home_sensors & r) != 0) return 1;
 		delay(1);
 	}
 	/* it never left */
-	motors_off();
+	motor_stop();
 	return 0;
 }
 
@@ -139,15 +148,15 @@ bool motor_overcurrent() {
 u8 dispense_motor(u8 slot) {
 	if (!is_motor(slot)) return MOTOR_NOSLOT;
 	if (!start_motor(slot)) return MOTOR_HOME_FAIL;
+	delay(100);
 
 	while (1) {
 		if (motor_overcurrent()) {
-			motors_off();
+			motor_stop();
 			return MOTOR_CURRENT_FAIL;
 		}
-		/* something should call motor_here? */
 		if (back_home(slot)) {
-			motors_off();
+			motor_stop();
 			return MOTOR_SUCCESS;
 		}
 	}