test circle and test 1000pts encoder

[aversive.git] / projects / microb2009 / mainboard / commands_mainboard.c

diff --git a/projects/microb2009/mainboard/commands_mainboard.c b/projects/microb2009/mainboard/commands_mainboard.c
index b379dc1..62c7316 100644 (file)
--- a/projects/microb2009/mainboard/commands_mainboard.c
+++ b/projects/microb2009/mainboard/commands_mainboard.c
@@ -2116,10 +2116,10 @@ parse_pgm_inst_t cmd_beacon_opp_dump = {
 #endif
 
 /**********************************************************/
-/* Test */
+/* Circle_Radius */
 
-/* this structure is filled when cmd_test is parsed successfully */
-struct cmd_test_result {
+/* this structure is filled when cmd_circle_radius is parsed successfully */
+struct cmd_circle_radius_result {
        fixed_string_t arg0;
        int32_t radius;
 };
@@ -2127,19 +2127,53 @@ void circle_get_da_speed_from_radius(struct trajectory *traj,
                                double radius_mm,
                                double *speed_d,
                                double *speed_a);
-/* function called when cmd_test is parsed successfully */
-static void cmd_test_parsed(void *parsed_result, void *data)
+/* function called when cmd_circle_radius is parsed successfully */
+static void cmd_circle_radius_parsed(void *parsed_result, void *data)
 {
-       struct cmd_test_result *res = parsed_result;
+       struct cmd_circle_radius_result *res = parsed_result;
        double d,a;
        strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
        circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
        printf_P(PSTR("d=%2.2f a=%2.2f\r\n"), d, a);
 }
 
+prog_char str_circle_radius_arg0[] = "circle_radius";
+parse_pgm_token_string_t cmd_circle_radius_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_radius_result, arg0, str_circle_radius_arg0);
+parse_pgm_token_num_t cmd_circle_radius_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_circle_radius_result, radius, INT32);
+
+prog_char help_circle_radius[] = "Circle_Radius function";
+parse_pgm_inst_t cmd_circle_radius = {
+       .f = cmd_circle_radius_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_circle_radius,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_circle_radius_arg0,
+               (prog_void *)&cmd_circle_radius_arg1,
+               NULL,
+       },
+};
+
+/**********************************************************/
+/* Test */
+
+/* this structure is filled when cmd_test is parsed successfully */
+struct cmd_test_result {
+       fixed_string_t arg0;
+       uint32_t mask;
+};
+
+extern uint32_t encmask;
+
+/* function called when cmd_test is parsed successfully */
+static void cmd_test_parsed(void *parsed_result, void *data)
+{
+       struct cmd_test_result *res = parsed_result;
+       encmask = res->mask;
+}
+
 prog_char str_test_arg0[] = "test";
 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
-parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
+parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, mask, UINT32);
 
 prog_char help_test[] = "Test function";
 parse_pgm_inst_t cmd_test = {