add climb fct
[aversive.git] / projects / microb2010 / mainboard / commands_mainboard.c
index e4eee57..fc51e8e 100644 (file)
@@ -730,9 +730,9 @@ static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
        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";
@@ -763,7 +763,7 @@ struct cmd_cobboard_setmode2_result {
 };
 
 /* 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;
@@ -773,17 +773,31 @@ static void cmd_cobboard_setmode2_parsed(void * parsed_result, void * data)
        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_autoharvest(side);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("pack"))) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               i2c_cobboard_pack(side);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               i2c_cobboard_deploy_nomove(side);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
+               i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               i2c_cobboard_autoharvest_nomove(side);
+       }
 }
 
 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";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#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);
@@ -1118,6 +1132,85 @@ parse_pgm_inst_t cmd_clitoid = {
 };
 
 /**********************************************************/
+/* Time_Monitor */
+
+/* this structure is filled when cmd_time_monitor is parsed successfully */
+struct cmd_time_monitor_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+};
+
+/* function called when cmd_time_monitor is parsed successfully */
+static void cmd_time_monitor_parsed(void *parsed_result, void *data)
+{
+#ifndef HOST_VERSION
+       struct cmd_time_monitor_result *res = parsed_result;
+       uint16_t seconds;
+
+       if (!strcmp_P(res->arg1, PSTR("reset"))) {
+               eeprom_write_word(EEPROM_TIME_ADDRESS, 0);
+       }
+       seconds = eeprom_read_word(EEPROM_TIME_ADDRESS);
+       printf_P(PSTR("Running since %d mn %d\r\n"), seconds/60, seconds%60);
+#endif
+}
+
+prog_char str_time_monitor_arg0[] = "time_monitor";
+parse_pgm_token_string_t cmd_time_monitor_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg0, str_time_monitor_arg0);
+prog_char str_time_monitor_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_time_monitor_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_time_monitor_result, arg1, str_time_monitor_arg1);
+
+prog_char help_time_monitor[] = "Show since how long we are running";
+parse_pgm_inst_t cmd_time_monitor = {
+       .f = cmd_time_monitor_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_time_monitor,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_time_monitor_arg0,
+               (prog_void *)&cmd_time_monitor_arg1,
+               NULL,
+       },
+};
+
+
+/**********************************************************/
+/* Strat_Event */
+
+/* this structure is filled when cmd_strat_event is parsed successfully */
+struct cmd_strat_event_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+};
+
+/* function called when cmd_strat_event is parsed successfully */
+static void cmd_strat_event_parsed(void *parsed_result, void *data)
+{
+       struct cmd_strat_event_result *res = parsed_result;
+
+       if (!strcmp_P(res->arg1, PSTR("on")))
+               strat_event_enable();
+       else
+               strat_event_disable();
+}
+
+prog_char str_strat_event_arg0[] = "strat_event";
+parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0);
+prog_char str_strat_event_arg1[] = "on#off";
+parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1);
+
+prog_char help_strat_event[] = "Enable/disable strat_event callback";
+parse_pgm_inst_t cmd_strat_event = {
+       .f = cmd_strat_event_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_strat_event,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_strat_event_arg0,
+               (prog_void *)&cmd_strat_event_arg1,
+               NULL,
+       },
+};
+
+/**********************************************************/
 /* Test */
 
 /* this structure is filled when cmd_test is parsed successfully */
@@ -1130,6 +1223,18 @@ struct cmd_test_result {
 /* function called when cmd_test is parsed successfully */
 static void cmd_test_parsed(void *parsed_result, void *data)
 {
+       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";
@@ -1147,3 +1252,75 @@ 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,
+       },
+};