cobboard: prepare state machine

[aversive.git] / projects / microb2010 / common / i2c_commands.h

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index 35605b8..43eed34 100644 (file)
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -22,6 +22,8 @@
 #ifndef _I2C_COMMANDS_H_
 #define _I2C_COMMANDS_H_
 
+#define I2C_OPPONENT_NOT_THERE -1000
+
 #define I2C_MAINBOARD_ADDR   1
 #define I2C_COBBOARD_ADDR    2
 #define I2C_BALLBOARD_ADDR   3
@@ -34,6 +36,9 @@
 #define I2C_COLOR_RED   0
 #define I2C_COLOR_GREEN 1
 
+#define I2C_COB_BLACK   0
+#define I2C_COB_WHITE   1
+
 struct i2c_cmd_hdr {
        uint8_t cmd;
 };
@@ -65,18 +70,13 @@ struct i2c_cmd_generic_color {
 
 struct i2c_cmd_cobboard_set_mode {
        struct i2c_cmd_hdr hdr;
-#define I2C_COBBOARD_MODE_INIT               0x00
-#define I2C_COBBOARD_MODE_MANUAL             0x01
-#define I2C_COBBOARD_MODE_HARVEST            0x02
-#define I2C_COBBOARD_MODE_EXIT               0xFF
-       uint8_t mode;
-       union {
-               struct {
-               } manual;
 
-               struct {
-               } harvest;
-       };
+#define I2C_COBBOARD_MODE_L_DEPLOY     0x01 /* deploy the spickle */
+#define I2C_COBBOARD_MODE_L_HARVEST    0x02 /* auto harvest withe cobs */
+#define I2C_COBBOARD_MODE_R_DEPLOY     0x04 /* deploy the spickle */
+#define I2C_COBBOARD_MODE_R_HARVEST    0x08 /* auto harvest withe cobs */
+#define I2C_COBBOARD_MODE_EJECT        0x10 /* eject cobs */
+       uint8_t mode;
 };
 
 /****/
@@ -104,6 +104,9 @@ struct i2c_ans_cobboard_status {
        uint8_t status;
 
        uint8_t cob_count;
+
+       int16_t left_cobroller_speed;
+       int16_t right_cobroller_speed;
 };
 
 #define I2C_REQ_BALLBOARD_STATUS 0x82