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work on trajectory, update cobboard and ballboard too
[aversive.git] / projects / microb2010 / mainboard / commands_traj.c
diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index ea124d3..7bf6057 100644 (file)
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -23,6 +23,7 @@
 #include <stdio.h>
 #include <string.h>
 
 #include <stdio.h>
 #include <string.h>
 
+#include <hostsim.h>
 #include <aversive/pgmspace.h>
 #include <aversive/wait.h>
 #include <aversive/error.h>
 #include <aversive/pgmspace.h>
 #include <aversive/wait.h>
 #include <aversive/error.h>
@@ -30,7 +31,7 @@
 #include <ax12.h>
 #include <uart.h>
 #include <pwm_ng.h>
 #include <ax12.h>
 #include <uart.h>
 #include <pwm_ng.h>
-#include <time.h>
+#include <clock_time.h>
 #include <spi.h>
 #include <encoders_spi.h>
 
 #include <spi.h>
 #include <encoders_spi.h>
 
@@ -38,6 +39,7 @@
 #include <quadramp.h>
 #include <control_system_manager.h>
 #include <trajectory_manager.h>
 #include <quadramp.h>
 #include <control_system_manager.h>
 #include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
 #include <vect_base.h>
 #include <lines.h>
 #include <polygon.h>
 #include <vect_base.h>
 #include <lines.h>
 #include <polygon.h>
@@ -56,7 +58,6 @@
 #include "cmdline.h"
 #include "strat_utils.h"
 #include "strat_base.h"
 #include "cmdline.h"
 #include "strat_utils.h"
 #include "strat_base.h"
-#include "strat_avoid.h"
 #include "strat.h"
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
 #include "strat.h"
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
@@ -145,7 +146,7 @@ static void cmd_circle_coef_parsed(void *parsed_result, void *data)
                trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
        }
 
                trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
        }
 
-       printf_P(PSTR("circle_coef %2.2f\r\n"), mainboard.traj.circle_coef);
+       printf_P(PSTR("circle_coef set %2.2f\r\n"), mainboard.traj.circle_coef);
 }
 
 prog_char str_circle_coef_arg0[] = "circle_coef";
 }
 
 prog_char str_circle_coef_arg0[] = "circle_coef";
@@ -265,6 +266,9 @@ struct cmd_rs_gains_result {
 /* function called when cmd_rs_gains is parsed successfully */
 static void cmd_rs_gains_parsed(void * parsed_result, void * data)
 {
 /* function called when cmd_rs_gains is parsed successfully */
 static void cmd_rs_gains_parsed(void * parsed_result, void * data)
 {
+#ifdef HOST_VERSION
+       printf("not implemented\n");
+#else
        struct cmd_rs_gains_result * res = parsed_result;
 
        if (!strcmp_P(res->arg1, PSTR("set"))) {
        struct cmd_rs_gains_result * res = parsed_result;
 
        if (!strcmp_P(res->arg1, PSTR("set"))) {
@@ -273,11 +277,9 @@ static void cmd_rs_gains_parsed(void * parsed_result, void * data)
                rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value, 
                                         RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
        }
                rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value, 
                                         RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
        }
-       printf_P(PSTR("rs_gains set "));
-       f64_print(mainboard.rs.left_ext_gain);
-       printf_P(PSTR(" "));
-       f64_print(mainboard.rs.right_ext_gain);
-       printf_P(PSTR("\r\n"));
+       printf_P(PSTR("rs_gains set %2.2f %2.2f\r\n"),
+                mainboard.rs.left_ext_gain, mainboard.rs.right_ext_gain);
+#endif
 }
 
 prog_char str_rs_gains_arg0[] = "rs_gains";
 }
 
 prog_char str_rs_gains_arg0[] = "rs_gains";
@@ -402,6 +404,10 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data)
        if (!strcmp_P(res->arg1, PSTR("append"))) {
                res->arg2 = pt_list_len;
        }
        if (!strcmp_P(res->arg1, PSTR("append"))) {
                res->arg2 = pt_list_len;
        }
+       if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
+               printf_P(PSTR("removed\r\n"));
+               return;
+       }
 
        if (!strcmp_P(res->arg1, PSTR("insert")) ||
            !strcmp_P(res->arg1, PSTR("append"))) {
 
        if (!strcmp_P(res->arg1, PSTR("insert")) ||
            !strcmp_P(res->arg1, PSTR("append"))) {
@@ -441,12 +447,18 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data)
                printf_P(PSTR("List empty\r\n"));
                return;
        }
                printf_P(PSTR("List empty\r\n"));
                return;
        }
+ restart:
        for (i=0 ; i<pt_list_len ; i++) {
                printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
                if (!strcmp_P(res->arg1, PSTR("start"))) {
                        trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
                        why = wait_traj_end(0xFF); /* all */
                }
        for (i=0 ; i<pt_list_len ; i++) {
                printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
                if (!strcmp_P(res->arg1, PSTR("start"))) {
                        trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
                        why = wait_traj_end(0xFF); /* all */
                }
+               else if (!strcmp_P(res->arg1, PSTR("loop_start"))) {
+                       trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
+                       why = wait_traj_end(0xFF); /* all */
+               }
+#if 0
                else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
                        while (1) {
                                why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
                else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
                        while (1) {
                                why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
@@ -455,9 +467,16 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data)
                                        break;
                        }
                }
                                        break;
                        }
                }
+#endif
                if (why & (~(END_TRAJ | END_NEAR)))
                        trajectory_stop(&mainboard.traj);
                if (why & (~(END_TRAJ | END_NEAR)))
                        trajectory_stop(&mainboard.traj);
+               if (why & END_INTR)
+                       break;
        }
        }
+       if (why & END_INTR)
+               return;
+       if (!strcmp_P(res->arg1, PSTR("loop_start")))
+               goto restart;
 }
 
 prog_char str_pt_list_arg0[] = "pt_list";
 }
 
 prog_char str_pt_list_arg0[] = "pt_list";
@@ -521,7 +540,7 @@ parse_pgm_inst_t cmd_pt_list_del = {
 };
 /* show */
 
 };
 /* show */
 
-prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
+prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start#loop_start";
 parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
 
 prog_char help_pt_list_show[] = "Show, start or reset pt_list";
 parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
 
 prog_char help_pt_list_show[] = "Show, start or reset pt_list";
@@ -580,14 +599,24 @@ static void cmd_goto_parsed(void * parsed_result, void * data)
                trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3);
        }
        else if (!strcmp_P(res->arg1, PSTR("avoid"))) {
                trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3);
        }
        else if (!strcmp_P(res->arg1, PSTR("avoid"))) {
+#if 0
                err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF);
                if (err != END_TRAJ && err != END_NEAR)
                        strat_hardstop();
                err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF);
                if (err != END_TRAJ && err != END_NEAR)
                        strat_hardstop();
+#else
+               printf_P(PSTR("not implemented\r\n"));
+               return;
+#endif
        }
        else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) {
        }
        else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) {
+#if 0
                err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF);
                if (err != END_TRAJ && err != END_NEAR)
                        strat_hardstop();
                err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF);
                if (err != END_TRAJ && err != END_NEAR)
                        strat_hardstop();
+#else
+               printf_P(PSTR("not implemented\r\n"));
+               return;
+#endif
        }
        else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) {
                trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
        }
        else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) {
                trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
@@ -673,43 +702,46 @@ static void auto_position(void)
        strat_get_speed(&old_spdd, &old_spda);
        strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
 
        strat_get_speed(&old_spdd, &old_spda);
        strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
 
-       trajectory_d_rel(&mainboard.traj, -300);
+       trajectory_d_rel(&mainboard.traj, 300);
        err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
        if (err == END_INTR)
                goto intr;
        wait_ms(100);
        err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
        if (err == END_INTR)
                goto intr;
        wait_ms(100);
-       strat_reset_pos(ROBOT_LENGTH/2, 0, 0);
+       strat_reset_pos(ROBOT_WIDTH/2,
+                       COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
+                       COLOR_A(-90));
 
 
-       trajectory_d_rel(&mainboard.traj, 120);
+       trajectory_d_rel(&mainboard.traj, -180);
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
 
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
 
-       trajectory_a_rel(&mainboard.traj, COLOR_A(90));
+       trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
 
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
 
-       trajectory_d_rel(&mainboard.traj, -300);
+       trajectory_d_rel(&mainboard.traj, 300);
        err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
        if (err == END_INTR)
                goto intr;
        wait_ms(100);
        err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
        if (err == END_INTR)
                goto intr;
        wait_ms(100);
-       strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2),
-                       COLOR_A(90));
+       strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
+                       DO_NOT_SET_POS,
+                       180);
 
 
-       trajectory_d_rel(&mainboard.traj, 120);
+       trajectory_d_rel(&mainboard.traj, -170);
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
        wait_ms(100);
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
        wait_ms(100);
-       
-       trajectory_a_rel(&mainboard.traj, COLOR_A(-40));
+
+       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);
        err = wait_traj_end(END_INTR|END_TRAJ);
        if (err == END_INTR)
                goto intr;
        wait_ms(100);
-       
+
        strat_set_speed(old_spdd, old_spda);
        return;
 
        strat_set_speed(old_spdd, old_spda);
        return;
 
@@ -722,7 +754,7 @@ intr:
 static void cmd_position_parsed(void * parsed_result, void * data)
 {
        struct cmd_position_result * res = parsed_result;
 static void cmd_position_parsed(void * parsed_result, void * data)
 {
        struct cmd_position_result * res = parsed_result;
-       
+
        /* display raw position values */
        if (!strcmp_P(res->arg1, PSTR("reset"))) {
                position_set(&mainboard.pos, 0, 0, 0);
        /* display raw position values */
        if (!strcmp_P(res->arg1, PSTR("reset"))) {
                position_set(&mainboard.pos, 0, 0, 0);
@@ -730,16 +762,20 @@ static void cmd_position_parsed(void * parsed_result, void * data)
        else if (!strcmp_P(res->arg1, PSTR("set"))) {
                position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
        }
        else if (!strcmp_P(res->arg1, PSTR("set"))) {
                position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
        }
-       else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) {
-               mainboard.our_color = I2C_COLOR_GREEN;
-               i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_GREEN);
-               i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_GREEN);
+       else if (!strcmp_P(res->arg1, PSTR("autoset_blue"))) {
+               mainboard.our_color = I2C_COLOR_BLUE;
+#ifndef HOST_VERSION
+               i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
+               i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+#endif
                auto_position();
        }
                auto_position();
        }
-       else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
-               mainboard.our_color = I2C_COLOR_RED;
-               i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_RED);
-               i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
+       else if (!strcmp_P(res->arg1, PSTR("autoset_yellow"))) {
+               mainboard.our_color = I2C_COLOR_YELLOW;
+#ifndef HOST_VERSION
+               i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
+               i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+#endif
                auto_position();
        }
 
                auto_position();
        }
 
@@ -752,7 +788,7 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 
 prog_char str_position_arg0[] = "position";
 parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
 
 prog_char str_position_arg0[] = "position";
 parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
-prog_char str_position_arg1[] = "show#reset#autoset_green#autoset_red";
+prog_char str_position_arg1[] = "show#reset#autoset_blue#autoset_yellow";
 parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
 
 prog_char help_position[] = "Show/reset (x,y,a) position";
 parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
 
 prog_char help_position[] = "Show/reset (x,y,a) position";
@@ -840,74 +876,15 @@ struct cmd_strat_conf_result {
 /* function called when cmd_strat_conf is parsed successfully */
 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
 {
 /* function called when cmd_strat_conf is parsed successfully */
 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
 {
-       struct cmd_strat_conf_result *res = parsed_result;
-
-       if (!strcmp_P(res->arg1, PSTR("base"))) {
-               strat_infos.conf.flags = 0;
-               strat_infos.conf.scan_our_min_time = 90;
-               strat_infos.conf.delay_between_our_scan = 90;
-               strat_infos.conf.scan_opp_min_time = 90;
-               strat_infos.conf.delay_between_opp_scan = 90;
-       }
-       else if (!strcmp_P(res->arg1, PSTR("big3"))) {
-               strat_infos.conf.flags = 
-                       STRAT_CONF_STORE_STATIC2 |
-                       STRAT_CONF_BIG_3_TEMPLE;
-               strat_infos.conf.scan_our_min_time = 90;
-               strat_infos.conf.delay_between_our_scan = 90;
-               strat_infos.conf.scan_opp_min_time = 90;
-               strat_infos.conf.delay_between_opp_scan = 90;
-       }
-       else if (!strcmp_P(res->arg1, PSTR("base_check"))) {
-               strat_infos.conf.flags = 0;
-               strat_infos.conf.scan_our_min_time = 35;
-               strat_infos.conf.delay_between_our_scan = 90;
-               strat_infos.conf.scan_opp_min_time = 90;
-               strat_infos.conf.delay_between_opp_scan = 90;
-       }
-       else if (!strcmp_P(res->arg1, PSTR("big3_check"))) {
-               strat_infos.conf.flags = 
-                       STRAT_CONF_STORE_STATIC2 |
-                       STRAT_CONF_BIG_3_TEMPLE;
-               strat_infos.conf.scan_our_min_time = 35;
-               strat_infos.conf.delay_between_our_scan = 90;
-               strat_infos.conf.scan_opp_min_time = 90;
-               strat_infos.conf.delay_between_opp_scan = 90;
-       }
-       else if (!strcmp_P(res->arg1, PSTR("offensive_early"))) {
-               strat_infos.conf.flags = 
-                       STRAT_CONF_TAKE_ONE_LINTEL |
-                       STRAT_CONF_STORE_STATIC2 |
-                       STRAT_CONF_EARLY_SCAN |
-                       STRAT_CONF_PUSH_OPP_COLS;
-               strat_infos.conf.scan_our_min_time = 50;
-               strat_infos.conf.delay_between_our_scan = 90;
-               strat_infos.conf.scan_opp_min_time = 15;
-               strat_infos.conf.delay_between_opp_scan = 90;
-               strat_infos.conf.wait_opponent = 5;
-       }
-       else if (!strcmp_P(res->arg1, PSTR("offensive_late"))) {
-               strat_infos.conf.flags = STRAT_CONF_TAKE_ONE_LINTEL;
-               strat_infos.conf.scan_our_min_time = 90;
-               strat_infos.conf.delay_between_our_scan = 90;
-               strat_infos.conf.scan_opp_min_time = 30;
-               strat_infos.conf.delay_between_opp_scan = 90;
-       }
-       else if (!strcmp_P(res->arg1, PSTR("one_on_disc"))) {
-               strat_infos.conf.flags = 
-                       STRAT_CONF_ONLY_ONE_ON_DISC;
-               strat_infos.conf.scan_our_min_time = 90;
-               strat_infos.conf.delay_between_our_scan = 90;
-               strat_infos.conf.scan_opp_min_time = 90;
-               strat_infos.conf.delay_between_opp_scan = 90;
-       }
+       //      struct cmd_strat_conf_result *res = parsed_result;
+
        strat_infos.dump_enabled = 1;
        strat_dump_conf();
 }
 
 prog_char str_strat_conf_arg0[] = "strat_conf";
 parse_pgm_token_string_t cmd_strat_conf_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg0, str_strat_conf_arg0);
        strat_infos.dump_enabled = 1;
        strat_dump_conf();
 }
 
 prog_char str_strat_conf_arg0[] = "strat_conf";
 parse_pgm_token_string_t cmd_strat_conf_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg0, str_strat_conf_arg0);
-prog_char str_strat_conf_arg1[] = "show#base#big3#base_check#big3_check#offensive_early#offensive_late#one_on_disc";
+prog_char str_strat_conf_arg1[] = "show#base";
 parse_pgm_token_string_t cmd_strat_conf_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg1, str_strat_conf_arg1);
 
 prog_char help_strat_conf[] = "configure strat options";
 parse_pgm_token_string_t cmd_strat_conf_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg1, str_strat_conf_arg1);
 
 prog_char help_strat_conf[] = "configure strat options";
@@ -943,6 +920,7 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
        else
                on = 0;
        
        else
                on = 0;
        
+#if 0
        if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
                bit = STRAT_CONF_ONLY_ONE_ON_DISC;
        else if (!strcmp_P(res->arg1, PSTR("bypass_static2")))
        if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
                bit = STRAT_CONF_ONLY_ONE_ON_DISC;
        else if (!strcmp_P(res->arg1, PSTR("bypass_static2")))
@@ -959,6 +937,7 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
                bit = STRAT_CONF_EARLY_SCAN;
        else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
                bit = STRAT_CONF_PUSH_OPP_COLS;
                bit = STRAT_CONF_EARLY_SCAN;
        else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
                bit = STRAT_CONF_PUSH_OPP_COLS;
+#endif
 
        if (on)
                strat_infos.conf.flags |= bit;
 
        if (on)
                strat_infos.conf.flags |= bit;
@@ -971,7 +950,7 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 
 prog_char str_strat_conf2_arg0[] = "strat_conf";
 parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
 
 prog_char str_strat_conf2_arg0[] = "strat_conf";
 parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
-prog_char str_strat_conf2_arg1[] = "push_opp_cols#one_temple_on_disc#bypass_static2#take_one_lintel#skip_when_check_fail#store_static2#big3_temple#early_opp_scan";
+prog_char str_strat_conf2_arg1[] = "faux";
 parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
 prog_char str_strat_conf2_arg2[] = "on#off";
 parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);
 parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
 prog_char str_strat_conf2_arg2[] = "on#off";
 parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);
@@ -1003,6 +982,7 @@ struct cmd_strat_conf3_result {
 /* function called when cmd_strat_conf3 is parsed successfully */
 static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
 {
 /* function called when cmd_strat_conf3 is parsed successfully */
 static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
 {
+#if 0
        struct cmd_strat_conf3_result *res = parsed_result;
 
        if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
        struct cmd_strat_conf3_result *res = parsed_result;
 
        if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
@@ -1031,13 +1011,14 @@ static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
        else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
                strat_infos.conf.lintel_min_time = res->arg2;
        }
        else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
                strat_infos.conf.lintel_min_time = res->arg2;
        }
+#endif
        strat_infos.dump_enabled = 1;
        strat_dump_conf();
 }
 
 prog_char str_strat_conf3_arg0[] = "strat_conf";
 parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0);
        strat_infos.dump_enabled = 1;
        strat_dump_conf();
 }
 
 prog_char str_strat_conf3_arg0[] = "strat_conf";
 parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0);
-prog_char str_strat_conf3_arg1[] = "lintel_min_time#scan_opponent_min_time#delay_between_opponent_scan#scan_our_min_time#delay_between_our_scan#wait_opponent";
+prog_char str_strat_conf3_arg1[] = "faux2";
 parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1);
 parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16);
 
 parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1);
 parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16);
 
@@ -1054,47 +1035,6 @@ parse_pgm_inst_t cmd_strat_conf3 = {
        },
 };
 
        },
 };
 
-/**********************************************************/
-/* strat configuration */
-
-/* this structure is filled when cmd_strat_conf4 is parsed successfully */
-struct cmd_strat_conf4_result {
-       fixed_string_t arg0;
-       fixed_string_t arg1;
-       int16_t arg2;
-};
-
-/* function called when cmd_strat_conf4 is parsed successfully */
-static void cmd_strat_conf4_parsed(void *parsed_result, void *data)
-{
-       struct cmd_strat_conf4_result *res = parsed_result;
-
-       if (!strcmp_P(res->arg1, PSTR("scan_opponent_angle"))) {
-               strat_infos.conf.scan_opp_angle = res->arg2;
-       }
-       strat_infos.dump_enabled = 1;
-       strat_dump_conf();
-}
-
-prog_char str_strat_conf4_arg0[] = "strat_conf";
-parse_pgm_token_string_t cmd_strat_conf4_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg0, str_strat_conf4_arg0);
-prog_char str_strat_conf4_arg1[] = "scan_opponent_angle";
-parse_pgm_token_string_t cmd_strat_conf4_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg1, str_strat_conf4_arg1);
-parse_pgm_token_num_t cmd_strat_conf4_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf4_result, arg2, UINT16);
-
-prog_char help_strat_conf4[] = "configure strat options";
-parse_pgm_inst_t cmd_strat_conf4 = {
-       .f = cmd_strat_conf4_parsed,  /* function to call */
-       .data = NULL,      /* 2nd arg of func */
-       .help_str = help_strat_conf4,
-       .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_strat_conf4_arg0, 
-               (prog_void *)&cmd_strat_conf4_arg1, 
-               (prog_void *)&cmd_strat_conf4_arg2, 
-               NULL,
-       },
-};
-
 
 /**********************************************************/
 /* Subtraj */
 
 /**********************************************************/
 /* Subtraj */
@@ -1112,76 +1052,15 @@ struct cmd_subtraj_result {
 /* function called when cmd_subtraj is parsed successfully */
 static void cmd_subtraj_parsed(void *parsed_result, void *data)
 {
 /* function called when cmd_subtraj is parsed successfully */
 static void cmd_subtraj_parsed(void *parsed_result, void *data)
 {
-       struct cmd_subtraj_result *res = parsed_result;
-       uint8_t err = 0;
-       struct column_dispenser *disp;
-
-       if (strcmp_P(res->arg1, PSTR("static")) == 0) {
-               err = strat_static_columns(res->arg2);
-       }
-       else if (strcmp_P(res->arg1, PSTR("static2")) == 0) {
-               strat_infos.s_cols.configuration = res->arg2;
-               switch (res->arg2) {
-               case 1:
-                       position_set(&mainboard.pos, 1398, 
-                                    COLOR_Y(1297), COLOR_A(-66));
-                       break;
-               case 2:
-                       position_set(&mainboard.pos, 1232, 
-                                    COLOR_Y(1051), COLOR_A(4));
-                       break;
-               case 3:
-                       position_set(&mainboard.pos, 1232, 
-                                    COLOR_Y(1043), COLOR_A(5));
-                       break;
-               case 4:
-                       position_set(&mainboard.pos, 1346,
-                                    COLOR_Y(852), COLOR_A(57));
-                       break;
-               default:
-                       return;
-               }
-               if (res->arg2 == 1 && res->arg3 == 1) {
-                       strat_infos.s_cols.flags = STATIC_COL_LINE1_DONE;
-               }
-               if (res->arg2 == 1 && res->arg3 == 2) {
-                       strat_infos.s_cols.flags = STATIC_COL_LINE2_DONE;
-               }
-               err = strat_static_columns_pass2();
-       }
-       else if (strcmp_P(res->arg1, PSTR("lintel1")) == 0) {
-               err = strat_goto_lintel_disp(&strat_infos.l1);
-       }
-       else if (strcmp_P(res->arg1, PSTR("lintel2")) == 0) {
-               err = strat_goto_lintel_disp(&strat_infos.l2);
-       }
-       else if (strcmp_P(res->arg1, PSTR("coldisp1")) == 0) {
-               disp = &strat_infos.c1;
-               err = strat_goto_col_disp(&disp);
-       }
-       else if (strcmp_P(res->arg1, PSTR("coldisp2")) == 0) {
-               disp = &strat_infos.c2;
-               err = strat_goto_col_disp(&disp);
-       }
-       else if (strcmp_P(res->arg1, PSTR("coldisp3")) == 0) {
-               disp = &strat_infos.c3;
-               err = strat_goto_col_disp(&disp);
-       }
-       else if (strcmp_P(res->arg1, PSTR("disc")) == 0) {
-               if (res->arg2 == 0) {
-                       printf_P(PSTR("bad level\r\n"));
-                       return;
-               }
-               err = strat_goto_disc(res->arg2);
-       }
+/*     struct cmd_subtraj_result *res = parsed_result; */
 
 
-       printf_P(PSTR("substrat returned %s\r\n"), get_err(err));
+       printf_P(PSTR("TODO\r\n"));
        trajectory_hardstop(&mainboard.traj);
 }
 
 prog_char str_subtraj_arg0[] = "subtraj";
 parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0);
        trajectory_hardstop(&mainboard.traj);
 }
 
 prog_char str_subtraj_arg0[] = "subtraj";
 parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0);
-prog_char str_subtraj_arg1[] = "static#disc#lintel1#lintel2#coldisp1#coldisp2#coldisp3#static2";
+prog_char str_subtraj_arg1[] = "faux";
 parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1);
 parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32);
 parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);
 parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1);
 parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32);
 parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);
Framework and libraries for AVR