traj circle

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

diff --git a/projects/microb2009/mainboard/commands_traj.c b/projects/microb2009/mainboard/commands_traj.c
index f3b38fd..82477a3 100644 (file)
--- a/projects/microb2009/mainboard/commands_traj.c
+++ b/projects/microb2009/mainboard/commands_traj.c
@@ -215,9 +215,9 @@ static void cmd_rs_gains_parsed(void * parsed_result, void * data)
                                         RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
        }
        printf_P(PSTR("rs_gains set "));
-       f64_print(mainboard.rs.left_ext_gain);
+       //f64_print(mainboard.rs.left_ext_gain);
        printf_P(PSTR(" "));
-       f64_print(mainboard.rs.right_ext_gain);
+       //f64_print(mainboard.rs.right_ext_gain);
        printf_P(PSTR("\r\n"));
 }
 
@@ -489,6 +489,7 @@ struct cmd_goto_result {
        int32_t arg2;
        int32_t arg3;
        int32_t arg4;
+       int32_t arg5;
 };
 
 /* function called when cmd_goto is parsed successfully */
@@ -539,6 +540,11 @@ static void cmd_goto_parsed(void * parsed_result, void * data)
        else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
                trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
        }
+       else if (!strcmp_P(res->arg1, PSTR("circle_rel"))) {
+               trajectory_circle_rel(&mainboard.traj, res->arg2, res->arg3,
+                                     res->arg4, res->arg5, 0);
+               return; /* XXX */
+       }
        t1 = time_get_us2();
        while ((err = test_traj_end(0xFF)) == 0) {
                t2 = time_get_us2();
@@ -592,6 +598,28 @@ parse_pgm_inst_t cmd_goto2 = {
        },
 };
 
+prog_char str_goto_arg1_c[] = "circle_rel";
+parse_pgm_token_string_t cmd_goto_arg1_c = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_c);
+parse_pgm_token_num_t cmd_goto_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg4, INT32);
+parse_pgm_token_num_t cmd_goto_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg5, INT32);
+
+/* 4 params */
+prog_char help_goto4[] = "Do a circle: (x,y, radius, angle)";
+parse_pgm_inst_t cmd_goto4 = {
+       .f = cmd_goto_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_goto4,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_goto_arg0,
+               (prog_void *)&cmd_goto_arg1_c,
+               (prog_void *)&cmd_goto_arg2,
+               (prog_void *)&cmd_goto_arg3,
+               (prog_void *)&cmd_goto_arg4,
+               (prog_void *)&cmd_goto_arg5,
+               NULL,
+       },
+};
+
 /**********************************************************/
 /* Position tests */