}
}
else {
+#ifdef HOST_VERSION
+#define PWM_INTERACT 300
+#else
+#define PWM_INTERACT 1200
+#endif
switch(cmd) {
case KEY_UP_ARR:
- pwm_set_and_save(LEFT_PWM, 1200);
- pwm_set_and_save(RIGHT_PWM, 1200);
+ pwm_set_and_save(LEFT_PWM, PWM_INTERACT);
+ pwm_set_and_save(RIGHT_PWM, PWM_INTERACT);
break;
case KEY_LEFT_ARR:
- pwm_set_and_save(LEFT_PWM, -1200);
- pwm_set_and_save(RIGHT_PWM, 1200);
+ pwm_set_and_save(LEFT_PWM, -PWM_INTERACT);
+ pwm_set_and_save(RIGHT_PWM, PWM_INTERACT);
break;
case KEY_DOWN_ARR:
- pwm_set_and_save(LEFT_PWM, -1200);
- pwm_set_and_save(RIGHT_PWM, -1200);
+ pwm_set_and_save(LEFT_PWM, -PWM_INTERACT);
+ pwm_set_and_save(RIGHT_PWM, -PWM_INTERACT);
break;
case KEY_RIGHT_ARR:
- pwm_set_and_save(LEFT_PWM, 1200);
- pwm_set_and_save(RIGHT_PWM, -1200);
+ pwm_set_and_save(LEFT_PWM, PWM_INTERACT);
+ pwm_set_and_save(RIGHT_PWM, -PWM_INTERACT);
break;
}
}
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
i2c_cobboard_pack(side);
}
+ else if (!strcmp_P(res->arg1, PSTR("pack_weak"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_pack_weak(side);
+ }
else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
i2c_cobboard_deploy_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#harvest_nomove#deploy_nomove";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#pack_weak#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);
},
};
+/**********************************************************/
+/* Sleep */
+
+/* this structure is filled when cmd_sleep is parsed successfully */
+struct cmd_sleep_result {
+ fixed_string_t arg0;
+ uint32_t ms;
+};
+
+/* function called when cmd_sleep is parsed successfully */
+static void cmd_sleep_parsed(void *parsed_result, void *data)
+{
+ struct cmd_sleep_result *res = parsed_result;
+ time_wait_ms(res->ms);
+}
+
+prog_char str_sleep_arg0[] = "sleep";
+parse_pgm_token_string_t cmd_sleep_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sleep_result, arg0, str_sleep_arg0);
+parse_pgm_token_num_t cmd_sleep_ms = TOKEN_NUM_INITIALIZER(struct cmd_sleep_result, ms, UINT32);
+
+prog_char help_sleep[] = "Sleep during some miliseconds";
+parse_pgm_inst_t cmd_sleep = {
+ .f = cmd_sleep_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_sleep,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_sleep_arg0,
+ (prog_void *)&cmd_sleep_ms,
+ NULL,
+ },
+};
+
+
/**********************************************************/
/* Test */