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weak current limit on spickles
[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
7b04977
..
b5c9d36
100644
(file)
--- a/
projects/microb2010/common/i2c_commands.h
+++ b/
projects/microb2010/common/i2c_commands.h
@@
-32,6
+32,7
@@
#define I2C_RIGHT_SIDE 1
#define I2C_AUTO_SIDE 2
#define I2C_CENTER_SIDE 3
#define I2C_RIGHT_SIDE 1
#define I2C_AUTO_SIDE 2
#define I2C_CENTER_SIDE 3
+#define I2C_NO_SIDE 4
#define I2C_COLOR_YELLOW 0
#define I2C_COLOR_BLUE 1
#define I2C_COLOR_YELLOW 0
#define I2C_COLOR_BLUE 1
@@
-40,6
+41,7
@@
#define I2C_COB_WHITE 1
#define I2C_COB_UNKNOWN 2
#define I2C_COB_REMOVED 3
#define I2C_COB_WHITE 1
#define I2C_COB_UNKNOWN 2
#define I2C_COB_REMOVED 3
+#define I2C_COB_NONE 4
struct i2c_cmd_hdr {
uint8_t cmd;
struct i2c_cmd_hdr {
uint8_t cmd;
@@
-107,6
+109,8
@@
struct i2c_req_cobboard_status {
#define I2C_COBBOARD_SPK_DEPLOY 0x01 /* deploy the spickle */
#define I2C_COBBOARD_SPK_AUTOHARVEST 0x02 /* auto harvest the cobs */
#define I2C_COBBOARD_SPK_DEPLOY 0x01 /* deploy the spickle */
#define I2C_COBBOARD_SPK_AUTOHARVEST 0x02 /* auto harvest the cobs */
+#define I2C_COBBOARD_SPK_NO_MOVE 0x04 /* if enabled, don't change state */
+#define I2C_COBBOARD_SPK_WEAK 0x08 /* if enabled, current limit */
uint8_t lspickle;
uint8_t rspickle;
};
uint8_t lspickle;
uint8_t rspickle;
};
@@
-151,6
+155,10
@@
struct i2c_ans_ballboard_status {
uint8_t status;
uint8_t ball_count;
uint8_t status;
uint8_t ball_count;
+
+ /* detection of cobs */
+ uint8_t lcob;
+ uint8_t rcob;
};
#endif /* _I2C_PROTOCOL_H_ */
};
#endif /* _I2C_PROTOCOL_H_ */