gen.log_level = 0;
}
- if (!strcmp_P(res->color, PSTR("red"))) {
- mainboard.our_color = I2C_COLOR_RED;
- i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_RED);
- i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_RED);
+ if (!strcmp_P(res->color, PSTR("yellow"))) {
+ mainboard.our_color = I2C_COLOR_YELLOW;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
}
- else if (!strcmp_P(res->color, PSTR("green"))) {
- mainboard.our_color = I2C_COLOR_GREEN;
- i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_GREEN);
- i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_GREEN);
+ else if (!strcmp_P(res->color, PSTR("blue"))) {
+ mainboard.our_color = I2C_COLOR_BLUE;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
}
strat_start();
prog_char str_start_arg0[] = "start";
parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0);
-prog_char str_start_color[] = "green#red";
+prog_char str_start_color[] = "blue#yellow";
parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color);
prog_char str_start_debug[] = "debug#match";
parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug);
static void cmd_color_parsed(void *parsed_result, void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("red"))) {
- mainboard.our_color = I2C_COLOR_RED;
- i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_RED);
- i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_RED);
+ if (!strcmp_P(res->color, PSTR("yellow"))) {
+ mainboard.our_color = I2C_COLOR_YELLOW;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
}
- else if (!strcmp_P(res->color, PSTR("green"))) {
- mainboard.our_color = I2C_COLOR_GREEN;
- i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_GREEN);
- i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_GREEN);
+ else if (!strcmp_P(res->color, PSTR("blue"))) {
+ mainboard.our_color = I2C_COLOR_BLUE;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
-prog_char str_color_color[] = "green#red";
+prog_char str_color_color[] = "blue#yellow";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
{
printf_P(PSTR("mode = %x\r\n"), cobboard.mode);
printf_P(PSTR("status = %x\r\n"), cobboard.status);
+ printf_P(PSTR("cob_count = %x\r\n"), cobboard.cob_count);
+ printf_P(PSTR("left_cobroller_speed = %d\r\n"), cobboard.left_cobroller_speed);
+ printf_P(PSTR("right_cobroller_speed = %d\r\n"), cobboard.right_cobroller_speed);
}
prog_char str_cobboard_show_arg0[] = "cobboard";
if (!strcmp_P(res->arg1, PSTR("init")))
i2c_cobboard_mode_init();
- else if (!strcmp_P(res->arg1, PSTR("manual")))
- i2c_cobboard_mode_manual();
- else if (!strcmp_P(res->arg1, PSTR("harvest")))
- i2c_cobboard_mode_harvest();
+ else if (!strcmp_P(res->arg1, PSTR("eject")))
+ i2c_cobboard_mode_eject();
}
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#manual#harvest";
+prog_char str_cobboard_setmode1_arg1[] = "init#eject";
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)";
else if (!strcmp_P(res->arg2, PSTR("right")))
side = I2C_RIGHT_SIDE;
- if (!strcmp_P(res->arg1, PSTR("yyy")))
- printf("faux\r\n");
- else if (!strcmp_P(res->arg1, PSTR("xxx")))
- printf("faux\r\n");
+ 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);
}
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[] = "xxx";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack";
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);
},
};
+/**********************************************************/
+/* Ballboard_Show */
+
+/* this structure is filled when cmd_ballboard_show is parsed successfully */
+struct cmd_ballboard_show_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_ballboard_show is parsed successfully */
+static void cmd_ballboard_show_parsed(void * parsed_result, void * data)
+{
+ printf_P(PSTR("mode = %x\r\n"), ballboard.mode);
+ printf_P(PSTR("status = %x\r\n"), ballboard.status);
+ printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count);
+}
+
+prog_char str_ballboard_show_arg0[] = "ballboard";
+parse_pgm_token_string_t cmd_ballboard_show_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg0, str_ballboard_show_arg0);
+prog_char str_ballboard_show_arg1[] = "show";
+parse_pgm_token_string_t cmd_ballboard_show_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_show_result, arg1, str_ballboard_show_arg1);
+
+prog_char help_ballboard_show[] = "show ballboard status";
+parse_pgm_inst_t cmd_ballboard_show = {
+ .f = cmd_ballboard_show_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_ballboard_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_ballboard_show_arg0,
+ (prog_void *)&cmd_ballboard_show_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Ballboard_Setmode1 */
+
+/* this structure is filled when cmd_ballboard_setmode1 is parsed successfully */
+struct cmd_ballboard_setmode1_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_ballboard_setmode1 is parsed successfully */
+static void cmd_ballboard_setmode1_parsed(void *parsed_result, void *data)
+{
+ struct cmd_ballboard_setmode1_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("init")))
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_INIT);
+ else if (!strcmp_P(res->arg1, PSTR("off")))
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_OFF);
+ else if (!strcmp_P(res->arg1, PSTR("eject")))
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
+ else if (!strcmp_P(res->arg1, PSTR("harvest")))
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+
+ /* 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";
+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)";
+parse_pgm_inst_t cmd_ballboard_setmode1 = {
+ .f = cmd_ballboard_setmode1_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_ballboard_setmode1,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_ballboard_setmode1_arg0,
+ (prog_void *)&cmd_ballboard_setmode1_arg1,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Ballboard_Setmode2 */
+
+/* this structure is filled when cmd_ballboard_setmode2 is parsed successfully */
+struct cmd_ballboard_setmode2_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ fixed_string_t arg2;
+};
+
+/* 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";
+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);
+
+prog_char help_ballboard_setmode2[] = "set ballboard mode (mode, side)";
+parse_pgm_inst_t cmd_ballboard_setmode2 = {
+ .f = cmd_ballboard_setmode2_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_ballboard_setmode2,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_ballboard_setmode2_arg0,
+ (prog_void *)&cmd_ballboard_setmode2_arg1,
+ (prog_void *)&cmd_ballboard_setmode2_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Ballboard_Setmode3 */
+
+/* this structure is filled when cmd_ballboard_setmode3 is parsed successfully */
+struct cmd_ballboard_setmode3_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ uint8_t level;
+};
+
+/* function called when cmd_ballboard_setmode3 is parsed successfully */
+static void cmd_ballboard_setmode3_parsed(void *parsed_result, void *data)
+{
+ struct cmd_ballboard_setmode3_result *res = parsed_result;
+ if (!strcmp_P(res->arg1, PSTR("xxx")))
+ printf("faux\r\n");
+}
+
+prog_char str_ballboard_setmode3_arg0[] = "ballboard";
+parse_pgm_token_string_t cmd_ballboard_setmode3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg0, str_ballboard_setmode3_arg0);
+prog_char str_ballboard_setmode3_arg1[] = "xxx";
+parse_pgm_token_string_t cmd_ballboard_setmode3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode3_result, arg1, str_ballboard_setmode3_arg1);
+parse_pgm_token_num_t cmd_ballboard_setmode3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_ballboard_setmode3_result, level, UINT8);
+
+prog_char help_ballboard_setmode3[] = "set ballboard mode (mode, level)";
+parse_pgm_inst_t cmd_ballboard_setmode3 = {
+ .f = cmd_ballboard_setmode3_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_ballboard_setmode3,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_ballboard_setmode3_arg0,
+ (prog_void *)&cmd_ballboard_setmode3_arg1,
+ (prog_void *)&cmd_ballboard_setmode3_arg2,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* Servo_Balls */
+
+/* this structure is filled when cmd_servo_balls is parsed successfully */
+struct cmd_servo_balls_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_servo_balls is parsed successfully */
+static void cmd_servo_balls_parsed(void *parsed_result,
+ __attribute__((unused)) void *data)
+{
+ struct cmd_servo_balls_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("deploy")))
+ support_balls_deploy();
+ else if (!strcmp_P(res->arg1, PSTR("pack")))
+ support_balls_pack();
+}
+
+prog_char str_servo_balls_arg0[] = "support_balls";
+parse_pgm_token_string_t cmd_servo_balls_arg0 =
+ TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg0, str_servo_balls_arg0);
+prog_char str_servo_balls_arg1[] = "deploy#pack";
+parse_pgm_token_string_t cmd_servo_balls_arg1 =
+ TOKEN_STRING_INITIALIZER(struct cmd_servo_balls_result, arg1, str_servo_balls_arg1);
+
+prog_char help_servo_balls[] = "control support balls";
+parse_pgm_inst_t cmd_servo_balls = {
+ .f = cmd_servo_balls_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_servo_balls,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_servo_balls_arg0,
+ (prog_void *)&cmd_servo_balls_arg1,
+ NULL,
+ },
+};
+
/**********************************************************/
/* Test */
git.droids-corp.org / aversive.git / blobdiff