goto error;
/* status */
- cobboard.mode = ans->mode;
+ //cobboard.mode = ans->mode;
cobboard.status = ans->status;
cobboard.left_cobroller_speed = ans->left_cobroller_speed;
cs_set_consign(&mainboard.left_cobroller.cs, cobboard.left_cobroller_speed);
int8_t err;
buf.hdr.cmd = I2C_REQ_COBBOARD_STATUS;
+ buf.mode = cobboard.mode;
err = i2c_send(I2C_COBBOARD_ADDR, (uint8_t*)&buf,
sizeof(buf), I2C_CTRL_GENERIC);
return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
}
-int8_t i2c_cobboard_mode_eject(void)
+static int8_t i2c_cobboard_set_mode(uint8_t mode)
{
+#ifdef HOST_VERSION
+ return robotsim_i2c_cobboard_set_mode(mode);
+#else
+ cobboard.mode = mode;
+ return 0;
+#endif
+
+#if 0 /* old */
struct i2c_cmd_cobboard_set_mode buf;
buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
buf.mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+#endif
+}
+
+int8_t i2c_cobboard_mode_eject(void)
+{
+ /* XXXXXXXXX bad bad bad */
+ uint8_t mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
+ i2c_cobboard_set_mode(mode);
+ time_wait_ms(500);
+ mode = cobboard.mode & (~I2C_COBBOARD_MODE_EJECT);
+ i2c_cobboard_set_mode(mode);
+ return 0;
}
int8_t i2c_cobboard_mode_harvest(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
uint8_t mode = cobboard.mode;
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
if (side == I2C_LEFT_SIDE) {
mode |= I2C_COBBOARD_MODE_L_DEPLOY;
mode |= I2C_COBBOARD_MODE_L_HARVEST;
mode |= I2C_COBBOARD_MODE_R_DEPLOY;
mode |= I2C_COBBOARD_MODE_R_HARVEST;
}
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ return i2c_cobboard_set_mode(mode);
}
int8_t i2c_cobboard_mode_deploy(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
uint8_t mode = cobboard.mode;
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
if (side == I2C_LEFT_SIDE) {
mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
mode |= I2C_COBBOARD_MODE_L_DEPLOY;
mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
mode |= I2C_COBBOARD_MODE_R_DEPLOY;
}
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ return i2c_cobboard_set_mode(mode);
}
int8_t i2c_cobboard_mode_pack(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
uint8_t mode = cobboard.mode;
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
if (side == I2C_LEFT_SIDE)
mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
else
mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ return i2c_cobboard_set_mode(mode);
}
int8_t i2c_cobboard_mode_init(void)
{
- struct i2c_cmd_cobboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- buf.mode = I2C_COBBOARD_MODE_INIT;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ return i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
}
int8_t i2c_ballboard_set_mode(uint8_t mode)