motor controll + bugfix

git-svn-id: https://svn.spreadspace.org/avr/trunk@159 aa12f405-d877-488e-9caf-2d797e2a1cc7

1 files changed, 16 insertions, 2 deletions

diff --git a/usb-i2c-sl018/statemachine.c b/usb-i2c-sl018/statemachine.c
index 4ed9a11..037eee2 100644
--- a/usb-i2c-sl018/statemachine.c
+++ b/usb-i2c-sl018/statemachine.c
@@ -41,9 +41,15 @@ void change_state(state_t new_state)
     case reset:
       break;
     case closed: ledmatrix(red); break;
-    case closing: ledmatrix(red_moving); break;
+    case closing:
+      ledmatrix(red_moving);
+      start_stepper(dir_close);
+      break;
     case opened: ledmatrix(green); break;
-    case opening: ledmatrix(green_moving); break;
+    case opening:
+      ledmatrix(green_moving);
+      start_stepper(dir_open);
+      break;
     case timeout_after_open: ledmatrix(green_blink); break;
     case timeout_after_close: ledmatrix(red_blink); break;
     case error: ledmatrix(rg_blink); break;
@@ -83,6 +89,14 @@ void statemachine_task_limits(void)
     case manual_movement:
     case timeout_after_open:
     case timeout_after_close:
+      switch(limits) {
+        case open:
+          return change_state(opened);
+        case close:
+          return change_state(closed);
+        default:
+          return;
+      }
     case closing:
       if(limits == close)
         return change_state(closed);