work on trajectory, update cobboard and ballboard too

[aversive.git] / projects / microb2010 / mainboard / commands.c

diff --git a/projects/microb2010/mainboard/commands.c b/projects/microb2010/mainboard/commands.c
index 107606e..cdbeb6e 100644 (file)
--- a/projects/microb2010/mainboard/commands.c
+++ b/projects/microb2010/mainboard/commands.c
@@ -70,28 +70,13 @@ extern parse_pgm_inst_t cmd_interact;
 extern parse_pgm_inst_t cmd_color;
 extern parse_pgm_inst_t cmd_rs;
 extern parse_pgm_inst_t cmd_i2cdebug;
 extern parse_pgm_inst_t cmd_color;
 extern parse_pgm_inst_t cmd_rs;
 extern parse_pgm_inst_t cmd_i2cdebug;

-extern parse_pgm_inst_t cmd_mechboard_show;
-extern parse_pgm_inst_t cmd_mechboard_setmode1;
-extern parse_pgm_inst_t cmd_mechboard_setmode2;
-extern parse_pgm_inst_t cmd_mechboard_setmode3;
-extern parse_pgm_inst_t cmd_mechboard_setmode4;
-extern parse_pgm_inst_t cmd_mechboard_setmode5;
-extern parse_pgm_inst_t cmd_pickup_wheels;
+extern parse_pgm_inst_t cmd_cobboard_show;
+extern parse_pgm_inst_t cmd_cobboard_setmode1;
+extern parse_pgm_inst_t cmd_cobboard_setmode2;
+extern parse_pgm_inst_t cmd_cobboard_setmode3;

 extern parse_pgm_inst_t cmd_beacon_start;
 extern parse_pgm_inst_t cmd_beacon_start;

-extern parse_pgm_inst_t cmd_pump_current;
-extern parse_pgm_inst_t cmd_build_test;
-extern parse_pgm_inst_t cmd_column_test;
-extern parse_pgm_inst_t cmd_column_test2;
-extern parse_pgm_inst_t cmd_lintel_test;
-extern parse_pgm_inst_t cmd_pickup_test;
-extern parse_pgm_inst_t cmd_scan_test;
-extern parse_pgm_inst_t cmd_scan_test2;
-extern parse_pgm_inst_t cmd_time_monitor;
-extern parse_pgm_inst_t cmd_scanner;
-extern parse_pgm_inst_t cmd_build_z1;
-#ifdef TEST_BEACON
-extern parse_pgm_inst_t cmd_beacon_opp_dump;
-#endif
+extern parse_pgm_inst_t cmd_servo_balls;
+extern parse_pgm_inst_t cmd_clitoid;

 extern parse_pgm_inst_t cmd_test;
 
 /* commands_traj.c */
 extern parse_pgm_inst_t cmd_test;
 
 /* commands_traj.c */


@@ -99,6 +84,8 @@ extern parse_pgm_inst_t cmd_traj_speed;
 extern parse_pgm_inst_t cmd_traj_speed_show;
 extern parse_pgm_inst_t cmd_trajectory;
 extern parse_pgm_inst_t cmd_trajectory_show;
 extern parse_pgm_inst_t cmd_traj_speed_show;
 extern parse_pgm_inst_t cmd_trajectory;
 extern parse_pgm_inst_t cmd_trajectory_show;

+extern parse_pgm_inst_t cmd_circle_coef;
+extern parse_pgm_inst_t cmd_circle_coef_show;

 extern parse_pgm_inst_t cmd_rs_gains;
 extern parse_pgm_inst_t cmd_rs_gains_show;
 extern parse_pgm_inst_t cmd_track;
 extern parse_pgm_inst_t cmd_rs_gains;
 extern parse_pgm_inst_t cmd_rs_gains_show;
 extern parse_pgm_inst_t cmd_track;


@@ -168,28 +155,12 @@ parse_pgm_ctx_t main_ctx[] = {
        (parse_pgm_inst_t *)&cmd_color,
        (parse_pgm_inst_t *)&cmd_rs,
        (parse_pgm_inst_t *)&cmd_i2cdebug,
        (parse_pgm_inst_t *)&cmd_color,
        (parse_pgm_inst_t *)&cmd_rs,
        (parse_pgm_inst_t *)&cmd_i2cdebug,

-       (parse_pgm_inst_t *)&cmd_mechboard_show,
-       (parse_pgm_inst_t *)&cmd_mechboard_setmode1,
-       (parse_pgm_inst_t *)&cmd_mechboard_setmode2,
-       (parse_pgm_inst_t *)&cmd_mechboard_setmode3,
-       (parse_pgm_inst_t *)&cmd_mechboard_setmode4,
-       (parse_pgm_inst_t *)&cmd_mechboard_setmode5,
-       (parse_pgm_inst_t *)&cmd_pickup_wheels,
-       (parse_pgm_inst_t *)&cmd_beacon_start,
-       (parse_pgm_inst_t *)&cmd_pump_current,
-       (parse_pgm_inst_t *)&cmd_build_test,
-       (parse_pgm_inst_t *)&cmd_column_test,
-       (parse_pgm_inst_t *)&cmd_column_test2,
-       (parse_pgm_inst_t *)&cmd_lintel_test,
-       (parse_pgm_inst_t *)&cmd_pickup_test,
-       (parse_pgm_inst_t *)&cmd_scan_test,
-       (parse_pgm_inst_t *)&cmd_scan_test2,
-       (parse_pgm_inst_t *)&cmd_time_monitor,
-       (parse_pgm_inst_t *)&cmd_scanner,
-       (parse_pgm_inst_t *)&cmd_build_z1,
-#ifdef TEST_BEACON
-       (parse_pgm_inst_t *)&cmd_beacon_opp_dump,
-#endif
+       (parse_pgm_inst_t *)&cmd_cobboard_show,
+       (parse_pgm_inst_t *)&cmd_cobboard_setmode1,
+       (parse_pgm_inst_t *)&cmd_cobboard_setmode2,
+       (parse_pgm_inst_t *)&cmd_cobboard_setmode3,
+       (parse_pgm_inst_t *)&cmd_servo_balls,
+       (parse_pgm_inst_t *)&cmd_clitoid,

        (parse_pgm_inst_t *)&cmd_test,
 
        /* commands_traj.c */
        (parse_pgm_inst_t *)&cmd_test,
 
        /* commands_traj.c */


@@ -197,6 +168,8 @@ parse_pgm_ctx_t main_ctx[] = {
        (parse_pgm_inst_t *)&cmd_traj_speed_show,
        (parse_pgm_inst_t *)&cmd_trajectory,
        (parse_pgm_inst_t *)&cmd_trajectory_show,
        (parse_pgm_inst_t *)&cmd_traj_speed_show,
        (parse_pgm_inst_t *)&cmd_trajectory,
        (parse_pgm_inst_t *)&cmd_trajectory_show,

+       (parse_pgm_inst_t *)&cmd_circle_coef,
+       (parse_pgm_inst_t *)&cmd_circle_coef_show,

        (parse_pgm_inst_t *)&cmd_rs_gains,
        (parse_pgm_inst_t *)&cmd_rs_gains_show,
        (parse_pgm_inst_t *)&cmd_track,
        (parse_pgm_inst_t *)&cmd_rs_gains,
        (parse_pgm_inst_t *)&cmd_rs_gains_show,
        (parse_pgm_inst_t *)&cmd_track,


@@ -213,7 +186,6 @@ parse_pgm_ctx_t main_ctx[] = {
        (parse_pgm_inst_t *)&cmd_strat_conf,
        (parse_pgm_inst_t *)&cmd_strat_conf2,
        (parse_pgm_inst_t *)&cmd_strat_conf3,
        (parse_pgm_inst_t *)&cmd_strat_conf,
        (parse_pgm_inst_t *)&cmd_strat_conf2,
        (parse_pgm_inst_t *)&cmd_strat_conf3,

-       (parse_pgm_inst_t *)&cmd_strat_conf4,

        (parse_pgm_inst_t *)&cmd_subtraj,
        NULL,
 };
        (parse_pgm_inst_t *)&cmd_subtraj,
        NULL,
 };