#include "strat.h"
#include "strat_utils.h"
#include "strat_base.h"
+#include "strat_db.h"
#include "strat_corn.h"
#include "i2c_protocol.h"
#include "actuator.h"
gen.logs[NB_LOGS] = E_USER_STRAT;
if (!strcmp_P(res->debug, PSTR("debug"))) {
- strat_infos.dump_enabled = 1;
+ strat_db.dump_enabled = 1;
gen.log_level = 5;
}
else {
- strat_infos.dump_enabled = 0;
+ strat_db.dump_enabled = 0;
gen.log_level = 0;
}
struct cmd_cobboard_setmode1_result *res = parsed_result;
if (!strcmp_P(res->arg1, PSTR("init")))
- i2c_cobboard_mode_init();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
else if (!strcmp_P(res->arg1, PSTR("eject")))
- i2c_cobboard_mode_eject();
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
}
prog_char str_cobboard_setmode1_arg0[] = "cobboard";
};
/* function called when cmd_cobboard_setmode2 is parsed successfully */
-static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data)
+static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
{
struct cmd_cobboard_setmode2_result *res = parsed_result;
uint8_t side = I2C_LEFT_SIDE;
else if (!strcmp_P(res->arg2, PSTR("right")))
side = I2C_RIGHT_SIDE;
- if (!strcmp_P(res->arg1, PSTR("deploy")))
- i2c_cobboard_mode_deploy(side);
- else if (!strcmp_P(res->arg1, PSTR("harvest")))
- i2c_cobboard_mode_harvest(side);
- else if (!strcmp_P(res->arg1, PSTR("pack")))
- i2c_cobboard_mode_pack(side);
+ if (!strcmp_P(res->arg1, PSTR("deploy"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_deploy(side);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_harvest(side);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("pack"))) {
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+ i2c_cobboard_pack(side);
+ }
}
prog_char str_cobboard_setmode2_arg0[] = "cobboard";
int32_t dist;
};
-#if 0
-static void reverse_line(struct line_2pts *l)
-{
- point_t tmp;
-
- tmp.x = l->p1.x;
- tmp.y = l->p1.y;
- l->p1.x = l->p2.x;
- l->p1.y = l->p2.y;
- l->p2.x = tmp.x;
- l->p2.y = tmp.y;
-}
-#endif
-
/* function called when cmd_test is parsed successfully */
static void cmd_test_parsed(void *parsed_result, void *data)
{
- uint8_t err;
-
-#ifdef HOST_VERSION
- strat_reset_pos(298.48, COLOR_Y(309.21),
- COLOR_A(70.02));
- mainboard.angle.on = 1;
- mainboard.distance.on = 1;
- strat_set_speed(250, SPEED_ANGLE_FAST);
-#endif
- init_corn_table(0, 0);
- time_wait_ms(100);
-
- err = line2line(LINE_UP, 0, LINE_R_DOWN, 2);
- err = line2line(LINE_R_DOWN, 2, LINE_R_UP, 2);
- err = line2line(LINE_R_UP, 2, LINE_UP, 5);
- trajectory_hardstop(&mainboard.traj);
-
- /* ball ejection */
- trajectory_a_abs(&mainboard.traj, COLOR_A(90));
- i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
- time_wait_ms(2000);
-
- /* half turn */
- trajectory_goto_xy_abs(&mainboard.traj, 2625, COLOR_Y(1847));
- err = wait_traj_end(END_INTR|END_TRAJ);
- i2c_cobboard_mode_pack(I2C_LEFT_SIDE);
- i2c_cobboard_mode_pack(I2C_RIGHT_SIDE);
- trajectory_a_rel(&mainboard.traj, COLOR_A(180));
- err = wait_traj_end(END_INTR|END_TRAJ);
-
- /* cob ejection */
- trajectory_d_rel(&mainboard.traj, -100);
- err = wait_traj_end(END_INTR|END_TRAJ);
- i2c_cobboard_mode_eject();
- time_wait_ms(2000);
+ strat_db.dump_enabled = 1;
+ strat_db_dump(__FUNCTION__);
+
+ corn_set_color(strat_db.corn_table[0], I2C_COB_BLACK);
+ strat_db_dump(__FUNCTION__);
+
+ corn_set_color(strat_db.corn_table[3], I2C_COB_WHITE);
+ strat_db_dump(__FUNCTION__);
+ corn_set_color(strat_db.corn_table[4], I2C_COB_WHITE);
+ strat_db_dump(__FUNCTION__);
+ corn_set_color(strat_db.corn_table[5], I2C_COB_WHITE);
+ strat_db_dump(__FUNCTION__);
}
prog_char str_test_arg0[] = "test";