pwm interact

[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 13a327a..84ab748 100644 (file)
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -511,22 +511,27 @@ static void cmd_interact_parsed(void * parsed_result, void * data)
                        }
                }
                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;
                        }
                }
@@ -870,6 +875,8 @@ static void cmd_ballboard_show_parsed(void * parsed_result, void * data)
        printf_P(PSTR("mode = %x\r\n"), ballboard.mode);
        printf_P(PSTR("status = %x\r\n"), ballboard.status);
        printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count);
+       printf_P(PSTR("lcob = %d\r\n"), ballboard.lcob);
+       printf_P(PSTR("rcob = %d\r\n"), ballboard.rcob);
 #endif
 }
 
@@ -1210,6 +1217,39 @@ parse_pgm_inst_t cmd_strat_event = {
        },
 };
 
+/**********************************************************/
+/* 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 */
 
@@ -1252,3 +1292,75 @@ parse_pgm_inst_t cmd_test = {
                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,
+       },
+};