update and reliabilize 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 84ab748..b43f05b 100644 (file)
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -738,11 +738,13 @@ 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);
 }
 
 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";
+prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand";
 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)";
@@ -790,6 +792,10 @@ static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
                i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
                i2c_cobboard_pack(side);
        }
+       else if (!strcmp_P(res->arg1, PSTR("weak_pack"))) {
+               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);
@@ -802,7 +808,7 @@ static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 
 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#weak_pack#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);
@@ -1292,75 +1298,3 @@ 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,
-       },
-};