2 * Copyright Droids Corporation (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: commands_mainboard.c,v 1.9 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
28 #include <aversive/pgmspace.h>
29 #include <aversive/wait.h>
30 #include <aversive/error.h>
31 #include <aversive/eeprom.h>
36 #include <clock_time.h>
42 #include <control_system_manager.h>
43 #include <trajectory_manager.h>
44 #include <trajectory_manager_core.h>
45 #include <trajectory_manager_utils.h>
46 #include <vect_base.h>
49 #include <obstacle_avoidance.h>
50 #include <blocking_detection_manager.h>
51 #include <robot_system.h>
52 #include <position_manager.h>
56 #include <parse_string.h>
57 #include <parse_num.h>
59 #include "../common/i2c_commands.h"
60 #include "../common/eeprom_mapping.h"
67 #include "strat_utils.h"
68 #include "strat_base.h"
70 #include "strat_corn.h"
71 #include "i2c_protocol.h"
74 struct cmd_event_result {
81 /* function called when cmd_event is parsed successfully */
82 static void cmd_event_parsed(void *parsed_result, void *data)
86 struct cmd_event_result * res = parsed_result;
88 if (!strcmp_P(res->arg1, PSTR("all"))) {
90 if (!strcmp_P(res->arg2, PSTR("on")))
91 mainboard.flags |= bit;
92 else if (!strcmp_P(res->arg2, PSTR("off")))
93 mainboard.flags &= bit;
95 printf_P(PSTR("encoders is %s\r\n"),
96 (DO_ENCODERS & mainboard.flags) ? "on":"off");
97 printf_P(PSTR("cs is %s\r\n"),
98 (DO_CS & mainboard.flags) ? "on":"off");
99 printf_P(PSTR("rs is %s\r\n"),
100 (DO_RS & mainboard.flags) ? "on":"off");
101 printf_P(PSTR("pos is %s\r\n"),
102 (DO_POS & mainboard.flags) ? "on":"off");
103 printf_P(PSTR("bd is %s\r\n"),
104 (DO_BD & mainboard.flags) ? "on":"off");
105 printf_P(PSTR("timer is %s\r\n"),
106 (DO_TIMER & mainboard.flags) ? "on":"off");
107 printf_P(PSTR("power is %s\r\n"),
108 (DO_POWER & mainboard.flags) ? "on":"off");
109 printf_P(PSTR("errblock is %s\r\n"),
110 (DO_ERRBLOCKING & mainboard.flags) ? "on":"off");
115 if (!strcmp_P(res->arg1, PSTR("encoders")))
117 else if (!strcmp_P(res->arg1, PSTR("cs"))) {
121 else if (!strcmp_P(res->arg1, PSTR("rs")))
123 else if (!strcmp_P(res->arg1, PSTR("pos")))
125 else if (!strcmp_P(res->arg1, PSTR("bd")))
127 else if (!strcmp_P(res->arg1, PSTR("timer"))) {
131 else if (!strcmp_P(res->arg1, PSTR("power")))
133 else if (!strcmp_P(res->arg1, PSTR("errblock")))
134 bit = DO_ERRBLOCKING;
136 if (!strcmp_P(res->arg2, PSTR("on")))
137 mainboard.flags |= bit;
138 else if (!strcmp_P(res->arg2, PSTR("off"))) {
139 if (!strcmp_P(res->arg1, PSTR("cs"))) {
141 robotsim_pwm(LEFT_PWM, 0);
142 robotsim_pwm(RIGHT_PWM, 0);
144 pwm_ng_set(LEFT_PWM, 0);
145 pwm_ng_set(RIGHT_PWM, 0);
148 mainboard.flags &= (~bit);
150 printf_P(PSTR("%s is %s\r\n"), res->arg1,
151 (bit & mainboard.flags) ? "on":"off");
154 prog_char str_event_arg0[] = "event";
155 parse_pgm_token_string_t cmd_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg0, str_event_arg0);
156 prog_char str_event_arg1[] = "all#encoders#cs#rs#pos#bd#timer#power#errblock";
157 parse_pgm_token_string_t cmd_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg1, str_event_arg1);
158 prog_char str_event_arg2[] = "on#off#show";
159 parse_pgm_token_string_t cmd_event_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_event_result, arg2, str_event_arg2);
161 prog_char help_event[] = "Enable/disable events";
162 parse_pgm_inst_t cmd_event = {
163 .f = cmd_event_parsed, /* function to call */
164 .data = NULL, /* 2nd arg of func */
165 .help_str = help_event,
166 .tokens = { /* token list, NULL terminated */
167 (prog_void *)&cmd_event_arg0,
168 (prog_void *)&cmd_event_arg1,
169 (prog_void *)&cmd_event_arg2,
175 /**********************************************************/
178 /* this structure is filled when cmd_spi_test is parsed successfully */
179 struct cmd_spi_test_result {
183 /* function called when cmd_spi_test is parsed successfully */
184 static void cmd_spi_test_parsed(void * parsed_result, void * data)
187 printf("not implemented\n");
189 uint16_t i = 0, ret = 0, ret2 = 0;
191 if (mainboard.flags & DO_ENCODERS) {
192 printf_P(PSTR("Disable encoder event first\r\n"));
198 ret = spi_send_and_receive_byte(i);
199 ret2 = spi_send_and_receive_byte(i);
200 spi_slave_deselect(0);
202 if ((i & 0x7ff) == 0)
203 printf_P(PSTR("Sent %.4x twice, received %x %x\r\n"),
207 } while(!cmdline_keypressed());
211 prog_char str_spi_test_arg0[] = "spi_test";
212 parse_pgm_token_string_t cmd_spi_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_spi_test_result, arg0, str_spi_test_arg0);
214 prog_char help_spi_test[] = "Test the SPI";
215 parse_pgm_inst_t cmd_spi_test = {
216 .f = cmd_spi_test_parsed, /* function to call */
217 .data = NULL, /* 2nd arg of func */
218 .help_str = help_spi_test,
219 .tokens = { /* token list, NULL terminated */
220 (prog_void *)&cmd_spi_test_arg0,
227 /**********************************************************/
230 /* this structure is filled when cmd_opponent is parsed successfully */
231 struct cmd_opponent_result {
238 /* function called when cmd_opponent is parsed successfully */
239 static void cmd_opponent_parsed(void *parsed_result, void *data)
243 if (get_opponent_xyda(&x, &y, &d, &a))
244 printf_P(PSTR("No opponent\r\n"));
246 printf_P(PSTR("x=%d y=%d, d=%d a=%d\r\n"), x, y, d, a);
249 prog_char str_opponent_arg0[] = "opponent";
250 parse_pgm_token_string_t cmd_opponent_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg0, str_opponent_arg0);
251 prog_char str_opponent_arg1[] = "show";
252 parse_pgm_token_string_t cmd_opponent_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg1, str_opponent_arg1);
254 prog_char help_opponent[] = "Show (x,y) opponent";
255 parse_pgm_inst_t cmd_opponent = {
256 .f = cmd_opponent_parsed, /* function to call */
257 .data = NULL, /* 2nd arg of func */
258 .help_str = help_opponent,
259 .tokens = { /* token list, NULL terminated */
260 (prog_void *)&cmd_opponent_arg0,
261 (prog_void *)&cmd_opponent_arg1,
267 prog_char str_opponent_arg1_set[] = "set";
268 parse_pgm_token_string_t cmd_opponent_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_opponent_result, arg1, str_opponent_arg1_set);
269 parse_pgm_token_num_t cmd_opponent_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_opponent_result, arg2, INT32);
270 parse_pgm_token_num_t cmd_opponent_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_opponent_result, arg3, INT32);
272 prog_char help_opponent_set[] = "Set (x,y) opponent";
273 parse_pgm_inst_t cmd_opponent_set = {
274 .f = cmd_opponent_parsed, /* function to call */
275 .data = NULL, /* 2nd arg of func */
276 .help_str = help_opponent_set,
277 .tokens = { /* token list, NULL terminated */
278 (prog_void *)&cmd_opponent_arg0,
279 (prog_void *)&cmd_opponent_arg1_set,
280 (prog_void *)&cmd_opponent_arg2,
281 (prog_void *)&cmd_opponent_arg3,
287 /**********************************************************/
290 /* this structure is filled when cmd_start is parsed successfully */
291 struct cmd_start_result {
293 fixed_string_t color;
294 fixed_string_t debug;
297 /* function called when cmd_start is parsed successfully */
298 static void cmd_start_parsed(void *parsed_result, void *data)
300 struct cmd_start_result *res = parsed_result;
301 uint8_t old_level = gen.log_level;
303 gen.logs[NB_LOGS] = E_USER_STRAT;
304 if (!strcmp_P(res->debug, PSTR("debug"))) {
305 strat_db.dump_enabled = 1;
309 strat_db.dump_enabled = 0;
313 if (!strcmp_P(res->color, PSTR("yellow"))) {
314 mainboard.our_color = I2C_COLOR_YELLOW;
315 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
316 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
318 else if (!strcmp_P(res->color, PSTR("blue"))) {
319 mainboard.our_color = I2C_COLOR_BLUE;
320 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
321 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
326 gen.logs[NB_LOGS] = 0;
327 gen.log_level = old_level;
330 prog_char str_start_arg0[] = "start";
331 parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0);
332 prog_char str_start_color[] = "blue#yellow";
333 parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color);
334 prog_char str_start_debug[] = "debug#match";
335 parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug);
337 prog_char help_start[] = "Start the robot";
338 parse_pgm_inst_t cmd_start = {
339 .f = cmd_start_parsed, /* function to call */
340 .data = NULL, /* 2nd arg of func */
341 .help_str = help_start,
342 .tokens = { /* token list, NULL terminated */
343 (prog_void *)&cmd_start_arg0,
344 (prog_void *)&cmd_start_color,
345 (prog_void *)&cmd_start_debug,
352 /**********************************************************/
355 /* this structure is filled when cmd_interact is parsed successfully */
356 struct cmd_interact_result {
360 static void print_cs(void)
362 printf_P(PSTR("cons_d=% .8"PRIi32" cons_a=% .8"PRIi32" fil_d=% .8"PRIi32" fil_a=% .8"PRIi32" "
363 "err_d=% .8"PRIi32" err_a=% .8"PRIi32" out_d=% .8"PRIi32" out_a=% .8"PRIi32"\r\n"),
364 cs_get_consign(&mainboard.distance.cs),
365 cs_get_consign(&mainboard.angle.cs),
366 cs_get_filtered_consign(&mainboard.distance.cs),
367 cs_get_filtered_consign(&mainboard.angle.cs),
368 cs_get_error(&mainboard.distance.cs),
369 cs_get_error(&mainboard.angle.cs),
370 cs_get_out(&mainboard.distance.cs),
371 cs_get_out(&mainboard.angle.cs));
374 static void print_pos(void)
376 printf_P(PSTR("x=% .8d y=% .8d a=% .8d\r\n"),
377 position_get_x_s16(&mainboard.pos),
378 position_get_y_s16(&mainboard.pos),
379 position_get_a_deg_s16(&mainboard.pos));
382 static void print_time(void)
384 printf_P(PSTR("time %d\r\n"),time_get_s());
388 static void print_sensors(void)
391 if (sensor_start_switch())
392 printf_P(PSTR("Start switch | "));
394 printf_P(PSTR(" | "));
396 if (IR_DISP_SENSOR())
397 printf_P(PSTR("IR disp | "));
399 printf_P(PSTR(" | "));
401 printf_P(PSTR("\r\n"));
405 static void print_pid(void)
407 printf_P(PSTR("P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32" | "
408 "P=% .8"PRIi32" I=% .8"PRIi32" D=% .8"PRIi32" out=% .8"PRIi32"\r\n"),
409 pid_get_value_in(&mainboard.distance.pid) * pid_get_gain_P(&mainboard.distance.pid),
410 pid_get_value_I(&mainboard.distance.pid) * pid_get_gain_I(&mainboard.distance.pid),
411 pid_get_value_D(&mainboard.distance.pid) * pid_get_gain_D(&mainboard.distance.pid),
412 pid_get_value_out(&mainboard.distance.pid),
413 pid_get_value_in(&mainboard.angle.pid) * pid_get_gain_P(&mainboard.angle.pid),
414 pid_get_value_I(&mainboard.angle.pid) * pid_get_gain_I(&mainboard.angle.pid),
415 pid_get_value_D(&mainboard.angle.pid) * pid_get_gain_D(&mainboard.angle.pid),
416 pid_get_value_out(&mainboard.angle.pid));
419 #define PRINT_POS (1<<0)
420 #define PRINT_PID (1<<1)
421 #define PRINT_CS (1<<2)
422 #define PRINT_SENSORS (1<<3)
423 #define PRINT_TIME (1<<4)
424 #define PRINT_BLOCKING (1<<5)
426 static void cmd_interact_parsed(void * parsed_result, void * data)
435 printf_P(PSTR("Display debugs:\r\n"
441 /* " 6:blocking\r\n" */
448 mainboard.flags &= (~DO_CS);
449 pwm_set_and_save(LEFT_PWM, 0);
450 pwm_set_and_save(RIGHT_PWM, 0);
453 if (print & PRINT_POS) {
457 if (print & PRINT_PID) {
461 if (print & PRINT_CS) {
465 if (print & PRINT_SENSORS) {
469 if (print & PRINT_TIME) {
472 /* if (print & PRINT_BLOCKING) { */
473 /* printf_P(PSTR("%s %s blocking=%d\r\n"), */
474 /* mainboard.blocking ? "BLOCK1":" ", */
475 /* rs_is_blocked(&mainboard.rs) ? "BLOCK2":" ", */
476 /* rs_get_blocking(&mainboard.rs)); */
479 c = cmdline_getchar();
484 cmd = vt100_parser(&vt100, c);
492 case '1': print ^= PRINT_POS; break;
493 case '2': print ^= PRINT_PID; break;
494 case '3': print ^= PRINT_CS; break;
495 case '4': print ^= PRINT_SENSORS; break;
496 case '5': print ^= PRINT_TIME; break;
497 case '6': print ^= PRINT_BLOCKING; break;
500 if (mainboard.flags & DO_CS)
502 pwm_set_and_save(LEFT_PWM, 0);
503 pwm_set_and_save(RIGHT_PWM, 0);
506 pwm_set_and_save(LEFT_PWM, 0);
507 pwm_set_and_save(RIGHT_PWM, 0);
516 pwm_set_and_save(LEFT_PWM, 1200);
517 pwm_set_and_save(RIGHT_PWM, 1200);
520 pwm_set_and_save(LEFT_PWM, -1200);
521 pwm_set_and_save(RIGHT_PWM, 1200);
524 pwm_set_and_save(LEFT_PWM, -1200);
525 pwm_set_and_save(RIGHT_PWM, -1200);
528 pwm_set_and_save(LEFT_PWM, 1200);
529 pwm_set_and_save(RIGHT_PWM, -1200);
537 prog_char str_interact_arg0[] = "interact";
538 parse_pgm_token_string_t cmd_interact_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_interact_result, arg0, str_interact_arg0);
540 prog_char help_interact[] = "Interactive mode";
541 parse_pgm_inst_t cmd_interact = {
542 .f = cmd_interact_parsed, /* function to call */
543 .data = NULL, /* 2nd arg of func */
544 .help_str = help_interact,
545 .tokens = { /* token list, NULL terminated */
546 (prog_void *)&cmd_interact_arg0,
552 /**********************************************************/
555 /* this structure is filled when cmd_color is parsed successfully */
556 struct cmd_color_result {
558 fixed_string_t color;
561 /* function called when cmd_color is parsed successfully */
562 static void cmd_color_parsed(void *parsed_result, void *data)
565 printf("not implemented\n");
567 struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
568 if (!strcmp_P(res->color, PSTR("yellow"))) {
569 mainboard.our_color = I2C_COLOR_YELLOW;
570 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
571 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
573 else if (!strcmp_P(res->color, PSTR("blue"))) {
574 mainboard.our_color = I2C_COLOR_BLUE;
575 i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
576 i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
578 printf_P(PSTR("Done\r\n"));
582 prog_char str_color_arg0[] = "color";
583 parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
584 prog_char str_color_color[] = "blue#yellow";
585 parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
587 prog_char help_color[] = "Set our color";
588 parse_pgm_inst_t cmd_color = {
589 .f = cmd_color_parsed, /* function to call */
590 .data = NULL, /* 2nd arg of func */
591 .help_str = help_color,
592 .tokens = { /* token list, NULL terminated */
593 (prog_void *)&cmd_color_arg0,
594 (prog_void *)&cmd_color_color,
600 /**********************************************************/
603 /* this structure is filled when cmd_rs is parsed successfully */
604 struct cmd_rs_result {
609 /* function called when cmd_rs is parsed successfully */
610 static void cmd_rs_parsed(void *parsed_result, void *data)
612 // struct cmd_rs_result *res = parsed_result;
614 printf_P(PSTR("angle cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
615 cs_get_consign(&mainboard.angle.cs),
616 cs_get_filtered_feedback(&mainboard.angle.cs),
617 cs_get_out(&mainboard.angle.cs));
618 printf_P(PSTR("distance cons=% .6"PRIi32" in=% .6"PRIi32" out=% .6"PRIi32" / "),
619 cs_get_consign(&mainboard.distance.cs),
620 cs_get_filtered_feedback(&mainboard.distance.cs),
621 cs_get_out(&mainboard.distance.cs));
622 printf_P(PSTR("l=% .4"PRIi32" r=% .4"PRIi32"\r\n"), mainboard.pwm_l,
625 } while(!cmdline_keypressed());
628 prog_char str_rs_arg0[] = "rs";
629 parse_pgm_token_string_t cmd_rs_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg0, str_rs_arg0);
630 prog_char str_rs_arg1[] = "show";
631 parse_pgm_token_string_t cmd_rs_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_result, arg1, str_rs_arg1);
633 prog_char help_rs[] = "Show rs (robot system) values";
634 parse_pgm_inst_t cmd_rs = {
635 .f = cmd_rs_parsed, /* function to call */
636 .data = NULL, /* 2nd arg of func */
638 .tokens = { /* token list, NULL terminated */
639 (prog_void *)&cmd_rs_arg0,
640 (prog_void *)&cmd_rs_arg1,
645 /**********************************************************/
648 /* this structure is filled when cmd_i2cdebug is parsed successfully */
649 struct cmd_i2cdebug_result {
653 /* function called when cmd_i2cdebug is parsed successfully */
654 static void cmd_i2cdebug_parsed(void * parsed_result, void * data)
657 printf("not implemented\n");
660 i2c_protocol_debug();
664 prog_char str_i2cdebug_arg0[] = "i2cdebug";
665 parse_pgm_token_string_t cmd_i2cdebug_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_i2cdebug_result, arg0, str_i2cdebug_arg0);
667 prog_char help_i2cdebug[] = "I2c debug infos";
668 parse_pgm_inst_t cmd_i2cdebug = {
669 .f = cmd_i2cdebug_parsed, /* function to call */
670 .data = NULL, /* 2nd arg of func */
671 .help_str = help_i2cdebug,
672 .tokens = { /* token list, NULL terminated */
673 (prog_void *)&cmd_i2cdebug_arg0,
678 /**********************************************************/
681 /* this structure is filled when cmd_cobboard_show is parsed successfully */
682 struct cmd_cobboard_show_result {
687 /* function called when cmd_cobboard_show is parsed successfully */
688 static void cmd_cobboard_show_parsed(void * parsed_result, void * data)
691 printf("not implemented\n");
693 printf_P(PSTR("mode = %x\r\n"), cobboard.mode);
694 printf_P(PSTR("status = %x\r\n"), cobboard.status);
695 printf_P(PSTR("cob_count = %x\r\n"), cobboard.cob_count);
696 printf_P(PSTR("left_cobroller_speed = %d\r\n"), cobboard.left_cobroller_speed);
697 printf_P(PSTR("right_cobroller_speed = %d\r\n"), cobboard.right_cobroller_speed);
701 prog_char str_cobboard_show_arg0[] = "cobboard";
702 parse_pgm_token_string_t cmd_cobboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_show_result, arg0, str_cobboard_show_arg0);
703 prog_char str_cobboard_show_arg1[] = "show";
704 parse_pgm_token_string_t cmd_cobboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_show_result, arg1, str_cobboard_show_arg1);
706 prog_char help_cobboard_show[] = "show cobboard status";
707 parse_pgm_inst_t cmd_cobboard_show = {
708 .f = cmd_cobboard_show_parsed, /* function to call */
709 .data = NULL, /* 2nd arg of func */
710 .help_str = help_cobboard_show,
711 .tokens = { /* token list, NULL terminated */
712 (prog_void *)&cmd_cobboard_show_arg0,
713 (prog_void *)&cmd_cobboard_show_arg1,
718 /**********************************************************/
719 /* Cobboard_Setmode1 */
721 /* this structure is filled when cmd_cobboard_setmode1 is parsed successfully */
722 struct cmd_cobboard_setmode1_result {
727 /* function called when cmd_cobboard_setmode1 is parsed successfully */
728 static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
730 struct cmd_cobboard_setmode1_result *res = parsed_result;
732 if (!strcmp_P(res->arg1, PSTR("init")))
733 i2c_cobboard_mode_init();
734 else if (!strcmp_P(res->arg1, PSTR("eject")))
735 i2c_cobboard_mode_eject();
738 prog_char str_cobboard_setmode1_arg0[] = "cobboard";
739 parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
740 prog_char str_cobboard_setmode1_arg1[] = "init#eject";
741 parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
743 prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
744 parse_pgm_inst_t cmd_cobboard_setmode1 = {
745 .f = cmd_cobboard_setmode1_parsed, /* function to call */
746 .data = NULL, /* 2nd arg of func */
747 .help_str = help_cobboard_setmode1,
748 .tokens = { /* token list, NULL terminated */
749 (prog_void *)&cmd_cobboard_setmode1_arg0,
750 (prog_void *)&cmd_cobboard_setmode1_arg1,
755 /**********************************************************/
756 /* Cobboard_Setmode2 */
758 /* this structure is filled when cmd_cobboard_setmode2 is parsed successfully */
759 struct cmd_cobboard_setmode2_result {
765 /* function called when cmd_cobboard_setmode2 is parsed successfully */
766 static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data)
768 struct cmd_cobboard_setmode2_result *res = parsed_result;
769 uint8_t side = I2C_LEFT_SIDE;
771 if (!strcmp_P(res->arg2, PSTR("left")))
772 side = I2C_LEFT_SIDE;
773 else if (!strcmp_P(res->arg2, PSTR("right")))
774 side = I2C_RIGHT_SIDE;
776 if (!strcmp_P(res->arg1, PSTR("deploy")))
777 i2c_cobboard_mode_deploy(side);
778 else if (!strcmp_P(res->arg1, PSTR("harvest")))
779 i2c_cobboard_mode_harvest(side);
780 else if (!strcmp_P(res->arg1, PSTR("pack")))
781 i2c_cobboard_mode_pack(side);
784 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
785 parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
786 prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack";
787 parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
788 prog_char str_cobboard_setmode2_arg2[] = "left#right";
789 parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
791 prog_char help_cobboard_setmode2[] = "set cobboard mode (mode, side)";
792 parse_pgm_inst_t cmd_cobboard_setmode2 = {
793 .f = cmd_cobboard_setmode2_parsed, /* function to call */
794 .data = NULL, /* 2nd arg of func */
795 .help_str = help_cobboard_setmode2,
796 .tokens = { /* token list, NULL terminated */
797 (prog_void *)&cmd_cobboard_setmode2_arg0,
798 (prog_void *)&cmd_cobboard_setmode2_arg1,
799 (prog_void *)&cmd_cobboard_setmode2_arg2,
804 /**********************************************************/
805 /* Cobboard_Setmode3 */
807 /* this structure is filled when cmd_cobboard_setmode3 is parsed successfully */
808 struct cmd_cobboard_setmode3_result {
814 /* function called when cmd_cobboard_setmode3 is parsed successfully */
815 static void cmd_cobboard_setmode3_parsed(void *parsed_result, void *data)
817 struct cmd_cobboard_setmode3_result *res = parsed_result;
818 if (!strcmp_P(res->arg1, PSTR("xxx")))
822 prog_char str_cobboard_setmode3_arg0[] = "cobboard";
823 parse_pgm_token_string_t cmd_cobboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode3_result, arg0, str_cobboard_setmode3_arg0);
824 prog_char str_cobboard_setmode3_arg1[] = "xxx";
825 parse_pgm_token_string_t cmd_cobboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode3_result, arg1, str_cobboard_setmode3_arg1);
826 parse_pgm_token_num_t cmd_cobboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_cobboard_setmode3_result, level, UINT8);
828 prog_char help_cobboard_setmode3[] = "set cobboard mode (mode, level)";
829 parse_pgm_inst_t cmd_cobboard_setmode3 = {
830 .f = cmd_cobboard_setmode3_parsed, /* function to call */
831 .data = NULL, /* 2nd arg of func */
832 .help_str = help_cobboard_setmode3,
833 .tokens = { /* token list, NULL terminated */
834 (prog_void *)&cmd_cobboard_setmode3_arg0,
835 (prog_void *)&cmd_cobboard_setmode3_arg1,
836 (prog_void *)&cmd_cobboard_setmode3_arg2,
841 /**********************************************************/
844 /* this structure is filled when cmd_ballboard_show is parsed successfully */
845 struct cmd_ballboard_show_result {
850 /* function called when cmd_ballboard_show is parsed successfully */
851 static void cmd_ballboard_show_parsed(void * parsed_result, void * data)
854 printf("not implemented\n");
856 printf_P(PSTR("mode = %x\r\n"), ballboard.mode);
857 printf_P(PSTR("status = %x\r\n"), ballboard.status);
858 printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count);
862 prog_char str_ballboard_show_arg0[] = "ballboard";
863 parse_pgm_token_string_t cmd_ballboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg0, str_ballboard_show_arg0);
864 prog_char str_ballboard_show_arg1[] = "show";
865 parse_pgm_token_string_t cmd_ballboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg1, str_ballboard_show_arg1);
867 prog_char help_ballboard_show[] = "show ballboard status";
868 parse_pgm_inst_t cmd_ballboard_show = {
869 .f = cmd_ballboard_show_parsed, /* function to call */
870 .data = NULL, /* 2nd arg of func */
871 .help_str = help_ballboard_show,
872 .tokens = { /* token list, NULL terminated */
873 (prog_void *)&cmd_ballboard_show_arg0,
874 (prog_void *)&cmd_ballboard_show_arg1,
879 /**********************************************************/
880 /* Ballboard_Setmode1 */
882 /* this structure is filled when cmd_ballboard_setmode1 is parsed successfully */
883 struct cmd_ballboard_setmode1_result {
888 /* function called when cmd_ballboard_setmode1 is parsed successfully */
889 static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data)
891 struct cmd_ballboard_setmode1_result *res = parsed_result;
893 if (!strcmp_P(res->arg1, PSTR("init")))
894 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_INIT);
895 else if (!strcmp_P(res->arg1, PSTR("off")))
896 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_OFF);
897 else if (!strcmp_P(res->arg1, PSTR("eject")))
898 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
899 else if (!strcmp_P(res->arg1, PSTR("harvest")))
900 i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
905 prog_char str_ballboard_setmode1_arg0[] = "ballboard";
906 parse_pgm_token_string_t cmd_ballboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg0, str_ballboard_setmode1_arg0);
907 prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off";
908 parse_pgm_token_string_t cmd_ballboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg1, str_ballboard_setmode1_arg1);
910 prog_char help_ballboard_setmode1[] = "set ballboard mode (mode)";
911 parse_pgm_inst_t cmd_ballboard_setmode1 = {
912 .f = cmd_ballboard_setmode1_parsed, /* function to call */
913 .data = NULL, /* 2nd arg of func */
914 .help_str = help_ballboard_setmode1,
915 .tokens = { /* token list, NULL terminated */
916 (prog_void *)&cmd_ballboard_setmode1_arg0,
917 (prog_void *)&cmd_ballboard_setmode1_arg1,
922 /**********************************************************/
923 /* Ballboard_Setmode2 */
925 /* this structure is filled when cmd_ballboard_setmode2 is parsed successfully */
926 struct cmd_ballboard_setmode2_result {
932 /* function called when cmd_ballboard_setmode2 is parsed successfully */
933 static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data)
935 struct cmd_ballboard_setmode2_result *res = parsed_result;
936 uint8_t mode = I2C_BALLBOARD_MODE_INIT;
938 if (!strcmp_P(res->arg2, PSTR("left"))) {
939 if (!strcmp_P(res->arg1, PSTR("prepare")))
940 mode = I2C_BALLBOARD_MODE_PREP_L_FORK;
941 else if (!strcmp_P(res->arg1, PSTR("take")))
942 mode = I2C_BALLBOARD_MODE_TAKE_L_FORK;
945 if (!strcmp_P(res->arg1, PSTR("prepare")))
946 mode = I2C_BALLBOARD_MODE_PREP_R_FORK;
947 else if (!strcmp_P(res->arg1, PSTR("take")))
948 mode = I2C_BALLBOARD_MODE_TAKE_R_FORK;
950 i2c_ballboard_set_mode(mode);
953 prog_char str_ballboard_setmode2_arg0[] = "ballboard";
954 parse_pgm_token_string_t cmd_ballboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg0, str_ballboard_setmode2_arg0);
955 prog_char str_ballboard_setmode2_arg1[] = "prepare#take";
956 parse_pgm_token_string_t cmd_ballboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg1, str_ballboard_setmode2_arg1);
957 prog_char str_ballboard_setmode2_arg2[] = "left#right";
958 parse_pgm_token_string_t cmd_ballboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg2, str_ballboard_setmode2_arg2);
960 prog_char help_ballboard_setmode2[] = "set ballboard mode (mode, side)";
961 parse_pgm_inst_t cmd_ballboard_setmode2 = {
962 .f = cmd_ballboard_setmode2_parsed, /* function to call */
963 .data = NULL, /* 2nd arg of func */
964 .help_str = help_ballboard_setmode2,
965 .tokens = { /* token list, NULL terminated */
966 (prog_void *)&cmd_ballboard_setmode2_arg0,
967 (prog_void *)&cmd_ballboard_setmode2_arg1,
968 (prog_void *)&cmd_ballboard_setmode2_arg2,
973 /**********************************************************/
974 /* Ballboard_Setmode3 */
976 /* this structure is filled when cmd_ballboard_setmode3 is parsed successfully */
977 struct cmd_ballboard_setmode3_result {
983 /* function called when cmd_ballboard_setmode3 is parsed successfully */
984 static void cmd_ballboard_setmode3_parsed(void *parsed_result, void *data)
986 struct cmd_ballboard_setmode3_result *res = parsed_result;
987 if (!strcmp_P(res->arg1, PSTR("xxx")))
991 prog_char str_ballboard_setmode3_arg0[] = "ballboard";
992 parse_pgm_token_string_t cmd_ballboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg0, str_ballboard_setmode3_arg0);
993 prog_char str_ballboard_setmode3_arg1[] = "xxx";
994 parse_pgm_token_string_t cmd_ballboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg1, str_ballboard_setmode3_arg1);
995 parse_pgm_token_num_t cmd_ballboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_ballboard_setmode3_result, level, UINT8);
997 prog_char help_ballboard_setmode3[] = "set ballboard mode (mode, level)";
998 parse_pgm_inst_t cmd_ballboard_setmode3 = {
999 .f = cmd_ballboard_setmode3_parsed, /* function to call */
1000 .data = NULL, /* 2nd arg of func */
1001 .help_str = help_ballboard_setmode3,
1002 .tokens = { /* token list, NULL terminated */
1003 (prog_void *)&cmd_ballboard_setmode3_arg0,
1004 (prog_void *)&cmd_ballboard_setmode3_arg1,
1005 (prog_void *)&cmd_ballboard_setmode3_arg2,
1010 /**********************************************************/
1013 /* this structure is filled when cmd_servo_balls is parsed successfully */
1014 struct cmd_servo_balls_result {
1015 fixed_string_t arg0;
1016 fixed_string_t arg1;
1019 /* function called when cmd_servo_balls is parsed successfully */
1020 static void cmd_servo_balls_parsed(void *parsed_result,
1021 __attribute__((unused)) void *data)
1023 struct cmd_servo_balls_result *res = parsed_result;
1025 if (!strcmp_P(res->arg1, PSTR("deploy")))
1026 support_balls_deploy();
1027 else if (!strcmp_P(res->arg1, PSTR("pack")))
1028 support_balls_pack();
1031 prog_char str_servo_balls_arg0[] = "support_balls";
1032 parse_pgm_token_string_t cmd_servo_balls_arg0 =
1033 TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg0, str_servo_balls_arg0);
1034 prog_char str_servo_balls_arg1[] = "deploy#pack";
1035 parse_pgm_token_string_t cmd_servo_balls_arg1 =
1036 TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg1, str_servo_balls_arg1);
1038 prog_char help_servo_balls[] = "control support balls";
1039 parse_pgm_inst_t cmd_servo_balls = {
1040 .f = cmd_servo_balls_parsed, /* function to call */
1041 .data = NULL, /* 2nd arg of func */
1042 .help_str = help_servo_balls,
1043 .tokens = { /* token list, NULL terminated */
1044 (prog_void *)&cmd_servo_balls_arg0,
1045 (prog_void *)&cmd_servo_balls_arg1,
1050 /**********************************************************/
1053 /* this structure is filled when cmd_clitoid is parsed successfully */
1054 struct cmd_clitoid_result {
1055 fixed_string_t arg0;
1064 /* function called when cmd_test is parsed successfully */
1065 static void cmd_clitoid_parsed(void *parsed_result, void *data)
1067 struct cmd_clitoid_result *res = parsed_result;
1068 /* clitoid(res->alpha_deg, res->beta_deg, res->R_mm, */
1069 /* res->Vd, res->Amax, res->d_inter_mm); */
1070 double x = position_get_x_double(&mainboard.pos);
1071 double y = position_get_y_double(&mainboard.pos);
1072 double a = position_get_a_rad_double(&mainboard.pos);
1074 strat_set_speed(res->Vd, SPEED_ANGLE_FAST);
1075 trajectory_clitoid(&mainboard.traj, x, y, a, 150.,
1076 res->alpha_deg, res->beta_deg, res->R_mm,
1080 prog_char str_clitoid_arg0[] = "clitoid";
1081 parse_pgm_token_string_t cmd_clitoid_arg0 =
1082 TOKEN_STRING_INITIALIZER(struct cmd_clitoid_result,
1083 arg0, str_clitoid_arg0);
1084 parse_pgm_token_num_t cmd_clitoid_alpha_deg =
1085 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1087 parse_pgm_token_num_t cmd_clitoid_beta_deg =
1088 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1090 parse_pgm_token_num_t cmd_clitoid_R_mm =
1091 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1093 parse_pgm_token_num_t cmd_clitoid_Vd =
1094 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1096 parse_pgm_token_num_t cmd_clitoid_Amax =
1097 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1099 parse_pgm_token_num_t cmd_clitoid_d_inter_mm =
1100 TOKEN_NUM_INITIALIZER(struct cmd_clitoid_result,
1103 prog_char help_clitoid[] = "do a clitoid (alpha, beta, R, Vd, Amax, d_inter)";
1104 parse_pgm_inst_t cmd_clitoid = {
1105 .f = cmd_clitoid_parsed, /* function to call */
1106 .data = NULL, /* 2nd arg of func */
1107 .help_str = help_clitoid,
1108 .tokens = { /* token list, NULL terminated */
1109 (prog_void *)&cmd_clitoid_arg0,
1110 (prog_void *)&cmd_clitoid_alpha_deg,
1111 (prog_void *)&cmd_clitoid_beta_deg,
1112 (prog_void *)&cmd_clitoid_R_mm,
1113 (prog_void *)&cmd_clitoid_Vd,
1114 (prog_void *)&cmd_clitoid_Amax,
1115 (prog_void *)&cmd_clitoid_d_inter_mm,
1120 /**********************************************************/
1123 /* this structure is filled when cmd_test is parsed successfully */
1124 struct cmd_test_result {
1125 fixed_string_t arg0;
1130 /* function called when cmd_test is parsed successfully */
1131 static void cmd_test_parsed(void *parsed_result, void *data)
1133 strat_db.dump_enabled = 1;
1134 strat_db_dump(__FUNCTION__);
1136 corn_set_color(strat_db.corn_table[0], I2C_COB_BLACK);
1137 strat_db_dump(__FUNCTION__);
1139 corn_set_color(strat_db.corn_table[3], I2C_COB_WHITE);
1140 strat_db_dump(__FUNCTION__);
1141 corn_set_color(strat_db.corn_table[4], I2C_COB_WHITE);
1142 strat_db_dump(__FUNCTION__);
1143 corn_set_color(strat_db.corn_table[5], I2C_COB_WHITE);
1144 strat_db_dump(__FUNCTION__);
1147 prog_char str_test_arg0[] = "test";
1148 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
1149 parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
1150 parse_pgm_token_num_t cmd_test_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, dist, INT32);
1152 prog_char help_test[] = "Test function";
1153 parse_pgm_inst_t cmd_test = {
1154 .f = cmd_test_parsed, /* function to call */
1155 .data = NULL, /* 2nd arg of func */
1156 .help_str = help_test,
1157 .tokens = { /* token list, NULL terminated */
1158 (prog_void *)&cmd_test_arg0,