},
};
+/**********************************************************/
+/* centrifugal configuration */
+
+/* this structure is filled when cmd_centrifugal is parsed successfully */
+struct cmd_centrifugal_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float val;
+};
+
+/* function called when cmd_centrifugal is parsed successfully */
+static void cmd_centrifugal_parsed(void * parsed_result, void * data)
+{
+ struct cmd_centrifugal_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("set"))) {
+ position_set_centrifugal_coef(&mainboard.pos, res->val);
+ }
+ printf_P(PSTR("centrifugal set %f\r\n"), mainboard.pos.centrifugal_coef);
+}
+
+prog_char str_centrifugal_arg0[] = "centrifugal";
+parse_pgm_token_string_t cmd_centrifugal_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg0, str_centrifugal_arg0);
+prog_char str_centrifugal_arg1[] = "set";
+parse_pgm_token_string_t cmd_centrifugal_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_arg1);
+parse_pgm_token_num_t cmd_centrifugal_val = TOKEN_NUM_INITIALIZER(struct cmd_centrifugal_result, val, FLOAT);
+
+prog_char help_centrifugal[] = "Set centrifugal coef";
+parse_pgm_inst_t cmd_centrifugal = {
+ .f = cmd_centrifugal_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_centrifugal,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_centrifugal_arg0,
+ (prog_void *)&cmd_centrifugal_arg1,
+ (prog_void *)&cmd_centrifugal_val,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_centrifugal_show_arg[] = "show";
+parse_pgm_token_string_t cmd_centrifugal_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_show_arg);
+
+prog_char help_centrifugal_show[] = "Show centrifugal";
+parse_pgm_inst_t cmd_centrifugal_show = {
+ .f = cmd_centrifugal_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_centrifugal_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_centrifugal_arg0,
+ (prog_void *)&cmd_centrifugal_show_arg,
+ NULL,
+ },
+};
+
/**********************************************************/
interrupt_traj_reset();
strat_get_speed(&old_spdd, &old_spda);
strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
+ strat_set_acc(3, 3);
err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
if (err == END_INTR)
goto intr;
+ time_wait_ms(250);
trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
+ time_wait_ms(250);
err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
if (err == END_INTR)
goto intr;
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- wait_ms(100);
+ time_wait_ms(250);
trajectory_a_rel(&mainboard.traj, COLOR_A(-110));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
- wait_ms(100);
+ time_wait_ms(250);
strat_set_speed(old_spdd, old_spda);
return;