strat db

[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 de73518..e4eee57 100644 (file)
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -66,6 +66,7 @@
 #include "strat.h"
 #include "strat_utils.h"
 #include "strat_base.h"
 #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"
 #include "strat_corn.h"
 #include "i2c_protocol.h"
 #include "actuator.h"


@@ -301,11 +302,11 @@ static void cmd_start_parsed(void *parsed_result, void *data)
 
        gen.logs[NB_LOGS] = E_USER_STRAT;
        if (!strcmp_P(res->debug, PSTR("debug"))) {
 
        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 {
                gen.log_level = 5;
        }
        else {

-               strat_infos.dump_enabled = 0;
+               strat_db.dump_enabled = 0;

                gen.log_level = 0;
        }
 
                gen.log_level = 0;
        }
 


@@ -1126,58 +1127,9 @@ struct cmd_test_result {
        int32_t dist;
 };
 
        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)
 {
 /* 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);

 }
 
 prog_char str_test_arg0[] = "test";
 }
 
 prog_char str_test_arg0[] = "test";