weak current limit on spickles

[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 669c4c8..9cfda19 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -244,6 +244,10 @@ 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 +272,7 @@ 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);
@@ -710,8 +714,11 @@ 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 */
@@ -721,7 +728,7 @@ static void cmd_spickle_params2_parsed(void *parsed_result,
 prog_char str_spickle_params2_arg0[] = "spickle_params2";
 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 =
@@ -759,6 +766,79 @@ parse_pgm_inst_t cmd_spickle_params2_show = {
        },
 };
 
+/**********************************************************/
+/* Set Shovel Params */
+
+/* this structure is filled when cmd_shovel_current is parsed successfully */
+struct cmd_shovel_current_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+       int32_t arg2;
+       int32_t arg3;
+};
+
+/* function called when cmd_shovel_current is parsed successfully */
+static void cmd_shovel_current_parsed(void *parsed_result,
+                                     __attribute__((unused)) void *data)
+{
+       struct cmd_shovel_current_result * res = parsed_result;
+       uint8_t enable;
+       int32_t k1, k2;
+
+       if (!strcmp_P(res->arg1, PSTR("set")))
+               shovel_set_current_limit_coefs(res->arg2, res->arg3);
+       else if (!strcmp_P(res->arg1, PSTR("on")))
+               shovel_current_limit_enable(1);
+       else if (!strcmp_P(res->arg1, PSTR("off")))
+               shovel_current_limit_enable(0);
+
+       /* else show */
+       enable = shovel_get_current_limit_coefs(&k1, &k2);
+       printf_P(PSTR("enabled=%d k1=%"PRIi32" k2=%"PRIi32"\r\n"),
+                enable, k1, k2);
+}
+
+prog_char str_shovel_current_arg0[] = "shovel_current";
+parse_pgm_token_string_t cmd_shovel_current_arg0 =
+       TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg0, str_shovel_current_arg0);
+prog_char str_shovel_current_arg1[] = "set";
+parse_pgm_token_string_t cmd_shovel_current_arg1 =
+       TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg1, str_shovel_current_arg1);
+parse_pgm_token_num_t cmd_shovel_current_arg2 =
+       TOKEN_NUM_INITIALIZER(struct cmd_shovel_current_result, arg2, INT32);
+parse_pgm_token_num_t cmd_shovel_current_arg3 =
+       TOKEN_NUM_INITIALIZER(struct cmd_shovel_current_result, arg3, INT32);
+
+prog_char help_shovel_current[] = "Set shovel_current values";
+parse_pgm_inst_t cmd_shovel_current = {
+       .f = cmd_shovel_current_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_shovel_current,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_shovel_current_arg0,
+               (prog_void *)&cmd_shovel_current_arg1,
+               (prog_void *)&cmd_shovel_current_arg2,
+               (prog_void *)&cmd_shovel_current_arg3,
+               NULL,
+       },
+};
+
+prog_char str_shovel_current_arg1_show[] = "show#on#off";
+parse_pgm_token_string_t cmd_shovel_current_arg1_show =
+       TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg1, str_shovel_current_arg1_show);
+
+prog_char help_shovel_current_show[] = "show shovel params";
+parse_pgm_inst_t cmd_shovel_current_show = {
+       .f = cmd_shovel_current_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_shovel_current_show,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_shovel_current_arg0,
+               (prog_void *)&cmd_shovel_current_arg1_show,
+               NULL,
+       },
+};
+
 /**********************************************************/
 /* Test */