oranges and enhance strats

[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 b43f05b..8a97000 100644 (file)
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -512,7 +512,7 @@ static void cmd_interact_parsed(void * parsed_result, void * data)
                }
                else {
 #ifdef HOST_VERSION
-#define PWM_INTERACT 300
+#define PWM_INTERACT 1200
 #else
 #define PWM_INTERACT 1200
 #endif
@@ -738,13 +738,15 @@ static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
                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)";
@@ -925,13 +927,17 @@ static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data)
                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)";
@@ -959,27 +965,11 @@ struct cmd_ballboard_setmode2_result {
 /* 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);