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lots of work in opponent avoidance and strats
[aversive.git]
/
projects
/
microb2010
/
cobboard
/
i2c_protocol.c
diff --git
a/projects/microb2010/cobboard/i2c_protocol.c
b/projects/microb2010/cobboard/i2c_protocol.c
index
9b2a9e7
..
21a9bd8
100644
(file)
--- a/
projects/microb2010/cobboard/i2c_protocol.c
+++ b/
projects/microb2010/cobboard/i2c_protocol.c
@@
-130,16
+130,15
@@
void i2c_recvevent(uint8_t * buf, int8_t size)
break;
}
break;
}
-#if 0
case I2C_CMD_COBBOARD_SET_MODE:
{
struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
if (size != sizeof(struct i2c_cmd_cobboard_set_mode))
goto error;
case I2C_CMD_COBBOARD_SET_MODE:
{
struct i2c_cmd_cobboard_set_mode *cmd = void_cmd;
if (size != sizeof(struct i2c_cmd_cobboard_set_mode))
goto error;
- i2c_set_mode(cmd);
+ if (!state_get_i2c_ignore())
+ state_set_mode(cmd->mode);
break;
}
break;
}
-#endif
case I2C_CMD_GENERIC_SET_COLOR:
{
case I2C_CMD_GENERIC_SET_COLOR:
{
@@
-151,7
+150,7
@@
void i2c_recvevent(uint8_t * buf, int8_t size)
}
#ifdef notyet
}
#ifdef notyet
- case I2C_CMD_EXTENSION_TEST:
+ case I2C_CMD_EXTENSION_TEST:
{
struct i2c_cmd_extension_test *cmd = void_cmd;
if (size != sizeof (*cmd))
{
struct i2c_cmd_extension_test *cmd = void_cmd;
if (size != sizeof (*cmd))
@@
-163,7
+162,6
@@
void i2c_recvevent(uint8_t * buf, int8_t size)
/* Add other commands here ...*/
/* Add other commands here ...*/
-
case I2C_REQ_COBBOARD_STATUS:
{
struct i2c_req_cobboard_status *cmd = void_cmd;
case I2C_REQ_COBBOARD_STATUS:
{
struct i2c_req_cobboard_status *cmd = void_cmd;
@@
-171,7
+169,11
@@
void i2c_recvevent(uint8_t * buf, int8_t size)
goto error;
/* mode is in req */
goto error;
/* mode is in req */
- state_set_mode(cmd->mode);
+ if (state_get_status() != I2C_COBBOARD_STATUS_OFF &&
+ !state_get_i2c_ignore()) {
+ state_set_spickle(I2C_LEFT_SIDE, cmd->lspickle);
+ state_set_spickle(I2C_RIGHT_SIDE, cmd->rspickle);
+ }
i2c_send_status();
break;
}
i2c_send_status();
break;
}