work on trajectory, update cobboard and ballboard too

[aversive.git] / projects / microb2010 / cobboard / commands_cobboard.c

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index 888d15a..4ea3b80 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -402,11 +402,13 @@ static void cmd_servo_door_parsed(void *parsed_result,
                servo_door_open();
        else if (!strcmp_P(res->arg1, PSTR("closed")))
                servo_door_close();
+       else if (!strcmp_P(res->arg1, PSTR("block")))
+               servo_door_close();
 }
 
 prog_char str_servo_door_arg0[] = "door";
 parse_pgm_token_string_t cmd_servo_door_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_servo_door_result, arg0, str_servo_door_arg0);
-prog_char str_servo_door_arg1[] = "open#closed";
+prog_char str_servo_door_arg1[] = "open#closed#block";
 parse_pgm_token_string_t cmd_servo_door_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_servo_door_result, arg1, str_servo_door_arg1);
 
 prog_char help_servo_door[] = "Servo door function";
@@ -436,19 +438,17 @@ static void cmd_cobroller_parsed(void *parsed_result,
                                    __attribute__((unused)) void *data)
 {
        struct cmd_cobroller_result *res = parsed_result;
+       uint8_t side;
 
-       if (!strcmp_P(res->arg1, PSTR("left"))) {
-               if (!strcmp_P(res->arg2, PSTR("on")))
-                       left_cobroller_on();
-               else if (!strcmp_P(res->arg2, PSTR("off")))
-                       left_cobroller_off();
-       }
-       else if (!strcmp_P(res->arg1, PSTR("right"))) {
-               if (!strcmp_P(res->arg2, PSTR("on")))
-                       right_cobroller_on();
-               else if (!strcmp_P(res->arg2, PSTR("off")))
-                       right_cobroller_off();
-       }
+       if (!strcmp_P(res->arg1, PSTR("left")))
+               side = I2C_LEFT_SIDE;
+       else
+               side = I2C_RIGHT_SIDE;
+
+       if (!strcmp_P(res->arg2, PSTR("on")))
+               cobroller_on(side);
+       else if (!strcmp_P(res->arg2, PSTR("off")))
+               cobroller_off(side);
 }
 
 prog_char str_cobroller_arg0[] = "cobroller";
@@ -575,6 +575,9 @@ static void cmd_spickle_parsed(void * parsed_result,
        else if (!strcmp_P(res->arg2, PSTR("pack"))) {
                spickle_pack(side);
        }
+       else if (!strcmp_P(res->arg2, PSTR("mid"))) {
+               spickle_mid(side);
+       }
        printf_P(PSTR("done\r\n"));
 }
 
@@ -584,7 +587,7 @@ parse_pgm_token_string_t cmd_spickle_arg0 =
 prog_char str_spickle_arg1[] = "left#right";
 parse_pgm_token_string_t cmd_spickle_arg1 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg1, str_spickle_arg1);
-prog_char str_spickle_arg2[] = "deploy#pack";
+prog_char str_spickle_arg2[] = "deploy#pack#mid";
 parse_pgm_token_string_t cmd_spickle_arg2 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_result, arg2, str_spickle_arg2);
 
@@ -611,6 +614,7 @@ struct cmd_spickle_params_result {
        fixed_string_t arg2;
        int32_t arg3;
        int32_t arg4;
+       int32_t arg5;
 };
 
 /* function called when cmd_spickle_params is parsed successfully */
@@ -631,9 +635,7 @@ static void cmd_spickle_params_parsed(void *parsed_result,
                side = I2C_RIGHT_SIDE;
 
        if (!strcmp_P(res->arg2, PSTR("pos")))
-               spickle_set_pos(side, res->arg3, res->arg4);
-       else if (!strcmp_P(res->arg2, PSTR("delay")))
-               spickle_set_delay(side, res->arg3, res->arg4);
+               spickle_set_pos(side, res->arg3, res->arg4, res->arg5);
 }
 
 prog_char str_spickle_params_arg0[] = "spickle_params";
@@ -642,25 +644,28 @@ parse_pgm_token_string_t cmd_spickle_params_arg0 =
 prog_char str_spickle_params_arg1[] = "left#right";
 parse_pgm_token_string_t cmd_spickle_params_arg1 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg1, str_spickle_params_arg1);
-prog_char str_spickle_params_arg2[] = "pos#delay";
+prog_char str_spickle_params_arg2[] = "pos";
 parse_pgm_token_string_t cmd_spickle_params_arg2 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_params_result, arg2, str_spickle_params_arg2);
 parse_pgm_token_num_t cmd_spickle_params_arg3 =
        TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg3, INT32);
 parse_pgm_token_num_t cmd_spickle_params_arg4 =
        TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg4, INT32);
+parse_pgm_token_num_t cmd_spickle_params_arg5 =
+       TOKEN_NUM_INITIALIZER(struct cmd_spickle_params_result, arg5, INT32);
 
-prog_char help_spickle_params[] = "Set spickle pos values";
+prog_char help_spickle_params[] = "Set spickle pos values: left|right pos INTPACK INTMID INTDEPL";
 parse_pgm_inst_t cmd_spickle_params = {
        .f = cmd_spickle_params_parsed,  /* function to call */
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_spickle_params,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_spickle_params_arg0, 
-               (prog_void *)&cmd_spickle_params_arg1, 
-               (prog_void *)&cmd_spickle_params_arg2, 
-               (prog_void *)&cmd_spickle_params_arg3, 
-               (prog_void *)&cmd_spickle_params_arg4, 
+               (prog_void *)&cmd_spickle_params_arg0,
+               (prog_void *)&cmd_spickle_params_arg1,
+               (prog_void *)&cmd_spickle_params_arg2,
+               (prog_void *)&cmd_spickle_params_arg3,
+               (prog_void *)&cmd_spickle_params_arg4,
+               (prog_void *)&cmd_spickle_params_arg5,
                NULL,
        },
 };