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..d08e580 100644 (file)
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -22,17 +22,22 @@
 #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
 
-#define I2C_LEFT_SIDE   0
-#define I2C_RIGHT_SIDE  1
-#define I2C_AUTO_SIDE   2
-#define I2C_CENTER_SIDE 3
+#define I2C_LEFT_SIDE    0
+#define I2C_RIGHT_SIDE   1
+#define I2C_AUTO_SIDE    2
+#define I2C_CENTER_SIDE  3
+
+#define I2C_COLOR_YELLOW 0
+#define I2C_COLOR_BLUE   1
 
-#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 +70,29 @@ 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
+
+#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 */
+#define I2C_COBBOARD_MODE_INIT         0x20 /* init state machine */
        uint8_t mode;
-       union {
-               struct {
-               } manual;
+};
+
+#define I2C_CMD_BALLBOARD_SET_MODE 0x10
 
-               struct {
-               } harvest;
-       };
+struct i2c_cmd_ballboard_set_mode {
+       struct i2c_cmd_hdr hdr;
+
+#define I2C_BALLBOARD_MODE_OFF         0x00
+#define I2C_BALLBOARD_MODE_HARVEST     0x01
+#define I2C_BALLBOARD_MODE_EJECT       0x02
+#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x03
+#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x04
+#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x05
+#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x06
+       uint8_t mode;
 };
 
 /****/
@@ -104,6 +120,9 @@ 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