},
};
+/**********************************************************/
+/* Beacon_Start */
+
+/* this structure is filled when cmd_beacon_start is parsed successfully */
+struct cmd_beacon_start_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_beacon_start is parsed successfully */
+static void cmd_beacon_start_parsed(void *parsed_result, void *data)
+{
+ struct cmd_beacon_start_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("start")))
+ i2c_ballboard_set_beacon(1);
+ else
+ i2c_ballboard_set_beacon(0);
+}
+
+prog_char str_beacon_start_arg0[] = "beacon";
+parse_pgm_token_string_t cmd_beacon_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_start_result, arg0, str_beacon_start_arg0);
+prog_char str_beacon_start_arg1[] = "start#stop";
+parse_pgm_token_string_t cmd_beacon_start_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_start_result, arg1, str_beacon_start_arg1);
+
+prog_char help_beacon_start[] = "Beacon enabled/disable";
+parse_pgm_inst_t cmd_beacon_start = {
+ .f = cmd_beacon_start_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_beacon_start,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_beacon_start_arg0,
+ (prog_void *)&cmd_beacon_start_arg1,
+ NULL,
+ },
+};
/**********************************************************/
/* Start */
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
}
+ printf_P(PSTR("Press a key when beacon ready\r\n"));
+ i2c_ballboard_set_beacon(0);
+ while(!cmdline_keypressed());
+ i2c_ballboard_set_beacon(1);
+
strat_start();
gen.logs[NB_LOGS] = 0;
}
else {
#ifdef HOST_VERSION
-#define PWM_INTERACT 300
+#define PWM_INTERACT 1200
#else
#define PWM_INTERACT 1200
#endif
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
else if (!strcmp_P(res->arg1, PSTR("eject")))
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
- else if (!strcmp_P(res->arg1, PSTR("kickstand")))
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
+ else if (!strcmp_P(res->arg1, PSTR("kickstand_up")))
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
+ else if (!strcmp_P(res->arg1, PSTR("kickstand_down")))
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
}
prog_char str_cobboard_setmode1_arg0[] = "cobboard";
parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
-prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand";
+prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand_up#kickstand_down";
parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
else if (!strcmp_P(res->arg1, PSTR("harvest")))
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+ else if (!strcmp_P(res->arg1, PSTR("prepare")))
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+ else if (!strcmp_P(res->arg1, PSTR("take")))
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
/* other commands */
}
prog_char str_ballboard_setmode1_arg0[] = "ballboard";
parse_pgm_token_string_t cmd_ballboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg0, str_ballboard_setmode1_arg0);
-prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off";
+prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off#take#prepare";
parse_pgm_token_string_t cmd_ballboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg1, str_ballboard_setmode1_arg1);
prog_char help_ballboard_setmode1[] = "set ballboard mode (mode)";
/* function called when cmd_ballboard_setmode2 is parsed successfully */
static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data)
{
- struct cmd_ballboard_setmode2_result *res = parsed_result;
- uint8_t mode = I2C_BALLBOARD_MODE_INIT;
-
- if (!strcmp_P(res->arg2, PSTR("left"))) {
- if (!strcmp_P(res->arg1, PSTR("prepare")))
- mode = I2C_BALLBOARD_MODE_PREP_L_FORK;
- else if (!strcmp_P(res->arg1, PSTR("take")))
- mode = I2C_BALLBOARD_MODE_TAKE_L_FORK;
- }
- else {
- if (!strcmp_P(res->arg1, PSTR("prepare")))
- mode = I2C_BALLBOARD_MODE_PREP_R_FORK;
- else if (!strcmp_P(res->arg1, PSTR("take")))
- mode = I2C_BALLBOARD_MODE_TAKE_R_FORK;
- }
- i2c_ballboard_set_mode(mode);
}
prog_char str_ballboard_setmode2_arg0[] = "ballboard";
parse_pgm_token_string_t cmd_ballboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg0, str_ballboard_setmode2_arg0);
-prog_char str_ballboard_setmode2_arg1[] = "prepare#take";
+prog_char str_ballboard_setmode2_arg1[] = "xxx";
parse_pgm_token_string_t cmd_ballboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg1, str_ballboard_setmode2_arg1);
prog_char str_ballboard_setmode2_arg2[] = "left#right";
parse_pgm_token_string_t cmd_ballboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg2, str_ballboard_setmode2_arg2);
NULL,
},
};
-
-
-
-
-/**********************************************************/
-/* Climb */
-
-/* this structure is filled when cmd_climb is parsed successfully */
-struct cmd_climb_result {
- fixed_string_t arg0;
- int32_t radius;
- int32_t dist;
-};
-
-
-//#define DIM_BALLS_DOWN 620
-//#define DIM_BALLS_UP 700
-
-#define DIM_BALLS_DOWN 530
-#define DIM_BALLS_UP 700
-
-/* function called when cmd_climb is parsed successfully */
-static void cmd_climb_parsed(void *parsed_result, void *data)
-{
- uint8_t err;
-
- printf_P(PSTR("starting Clifenger\r\n"));
- strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW );
-
- trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
- err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
- trajectory_a_abs(&mainboard.traj, 0);
- err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
-
-
-
- trajectory_goto_xy_abs(&mainboard.traj, 1250, 250);
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_DOWN, 0xFF);
- printf_P(PSTR("ball_pack\r\n"));
- support_balls_pack();
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_UP, 0xFF);
- printf_P(PSTR("ball_deploy\r\n"));
- support_balls_deploy();
- err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
-
- /* reach top, go down */
- trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_UP, 0xFF);
- printf_P(PSTR("ball_pack\r\n"));
- support_balls_pack();
- err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_DOWN, 0xFF);
- printf_P(PSTR("ball_deploy\r\n"));
- support_balls_deploy();
-
- err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
-}
-
-prog_char str_climb_arg0[] = "climb";
-parse_pgm_token_string_t cmd_climb_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_climb_result, arg0, str_climb_arg0);
-parse_pgm_token_num_t cmd_climb_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, radius, INT32);
-parse_pgm_token_num_t cmd_climb_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, dist, INT32);
-
-prog_char help_climb[] = "Climb function";
-parse_pgm_inst_t cmd_climb = {
- .f = cmd_climb_parsed, /* function to call */
- .data = NULL, /* 2nd arg of func */
- .help_str = help_climb,
- .tokens = { /* token list, NULL terminated */
- (prog_void *)&cmd_climb_arg0,
- NULL,
- },
-};
git.droids-corp.org / aversive.git / blobdiff