cobboard no move mode

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

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 7c58bb9..13a327a 100644 (file)
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -779,17 +779,25 @@ static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
        }
        else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
                i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
-               i2c_cobboard_harvest(side);
+               i2c_cobboard_autoharvest(side);
        }
        else if (!strcmp_P(res->arg1, PSTR("pack"))) {
                i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
                i2c_cobboard_pack(side);
        }
+       else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               i2c_cobboard_deploy_nomove(side);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               i2c_cobboard_autoharvest_nomove(side);
+       }
 }
 
 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
-prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
 prog_char str_cobboard_setmode2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
@@ -1164,6 +1172,44 @@ parse_pgm_inst_t cmd_time_monitor = {
        },
 };
 
+
+/**********************************************************/
+/* Strat_Event */
+
+/* this structure is filled when cmd_strat_event is parsed successfully */
+struct cmd_strat_event_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+};
+
+/* function called when cmd_strat_event is parsed successfully */
+static void cmd_strat_event_parsed(void *parsed_result, void *data)
+{
+       struct cmd_strat_event_result *res = parsed_result;
+
+       if (!strcmp_P(res->arg1, PSTR("on")))
+               strat_event_enable();
+       else
+               strat_event_disable();
+}
+
+prog_char str_strat_event_arg0[] = "strat_event";
+parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0);
+prog_char str_strat_event_arg1[] = "on#off";
+parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1);
+
+prog_char help_strat_event[] = "Enable/disable strat_event callback";
+parse_pgm_inst_t cmd_strat_event = {
+       .f = cmd_strat_event_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_strat_event,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_strat_event_arg0,
+               (prog_void *)&cmd_strat_event_arg1,
+               NULL,
+       },
+};
+
 /**********************************************************/
 /* Test */