X-Git-Url: http://git.droids-corp.org/?a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcommands_cobboard.c;h=9f8b562b58c6fa246ca835998a3dfc76170ec59e;hb=d78a81c0df6dfe318d873a6f877e53cfb957ad8e;hp=dc1ec3560fe0b9db4acaaf07f4cb78a7435ef351;hpb=f5502f60124c62801685777bb7c699bdfb7e1166;p=aversive.git

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index dc1ec35..9f8b562 100644
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -193,6 +193,10 @@ static void cmd_state1_parsed(void *parsed_result,
 		state_init();
 	else if (!strcmp_P(res->arg1, PSTR("eject")))
 		state_set_mode(I2C_COBBOARD_MODE_EJECT);
+	else if (!strcmp_P(res->arg1, PSTR("kickstand_up")))
+		state_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
+	else if (!strcmp_P(res->arg1, PSTR("kickstand_down")))
+		state_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
 	else if (!strcmp_P(res->arg1, PSTR("ignore_i2c")))
 		state_set_i2c_ignore(1);
 	else if (!strcmp_P(res->arg1, PSTR("care_i2c")))
@@ -203,7 +207,7 @@ static void cmd_state1_parsed(void *parsed_result,
 
 prog_char str_state1_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);
-prog_char str_state1_arg1[] = "init#eject#ignore_i2c#care_i2c";
+prog_char str_state1_arg1[] = "init#eject#ignore_i2c#care_i2c#kickstand_up#kickstand_down";
 parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
 
 prog_char help_state1[] = "set cobboard mode";
@@ -244,6 +248,10 @@ static void cmd_state2_parsed(void *parsed_result,
 		state_set_mode(I2C_COBBOARD_MODE_HARVEST);
 		state_set_spickle(side, 0);
 	}
+	else if (!strcmp_P(res->arg1, PSTR("weak_pack"))) {
+		state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		state_set_spickle(side, I2C_COBBOARD_SPK_WEAK);
+	}
 	else if (!strcmp_P(res->arg1, PSTR("deploy"))) {
 		state_set_mode(I2C_COBBOARD_MODE_HARVEST);
 		state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
@@ -268,7 +276,7 @@ static void cmd_state2_parsed(void *parsed_result,
 
 prog_char str_state2_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
-prog_char str_state2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
+prog_char str_state2_arg1[] = "harvest#deploy#pack#weak_pack#harvest_nomove#deploy_nomove";
 parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
 prog_char str_state2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);
@@ -710,18 +718,21 @@ static void cmd_spickle_params2_parsed(void *parsed_result,
 {
 	struct cmd_spickle_params2_result * res = parsed_result;
 
-	if (!strcmp_P(res->arg1, PSTR("coef"))) {
-		spickle_set_coefs(res->arg2, res->arg3);
+	if (!strcmp_P(res->arg1, PSTR("wcoef"))) {
+		spickle_set_wcoefs(res->arg2, res->arg3);
+	}
+	else if (!strcmp_P(res->arg1, PSTR("scoef"))) {
+		spickle_set_scoefs(res->arg2, res->arg3);
 	}
 
 	/* else show */
 	spickle_dump_params();
 }
 
-prog_char str_spickle_params2_arg0[] = "spickle_params2";
+prog_char str_spickle_params2_arg0[] = "spickle_params";
 parse_pgm_token_string_t cmd_spickle_params2_arg0 =
 	TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg0, str_spickle_params2_arg0);
-prog_char str_spickle_params2_arg1[] = "coef";
+prog_char str_spickle_params2_arg1[] = "wcoef#scoef";
 parse_pgm_token_string_t cmd_spickle_params2_arg1 =
 	TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg1, str_spickle_params2_arg1);
 parse_pgm_token_num_t cmd_spickle_params2_arg2 =