hostsim and cob handling

[aversive.git] / projects / microb2010 / tests / hostsim / commands_mainboard.c

diff --git a/projects/microb2010/tests/hostsim/commands_mainboard.c b/projects/microb2010/tests/hostsim/commands_mainboard.c
index ff808c3..0238257 100644 (file)
--- a/projects/microb2010/tests/hostsim/commands_mainboard.c
+++ b/projects/microb2010/tests/hostsim/commands_mainboard.c
@@ -2249,8 +2249,48 @@ void circle_get_da_speed_from_radius(struct trajectory *traj,
 /* function called when cmd_test is parsed successfully */
 static void cmd_test_parsed(void *parsed_result, void *data)
 {
-       trajectory_line_abs(&mainboard.traj, 0, 1050,
-                           1500, 1050, 100.);
+       uint8_t err;
+       double d,a;
+
+#if 0
+       strat_set_speed(500, 500);
+       circle_get_da_speed_from_radius(&mainboard.traj, 225, &d, &a);
+       trajectory_line_abs(&mainboard.traj,
+                           375, 347,
+                           375, 1847, 100.);
+       err = WAIT_COND_OR_TRAJ_END(y_is_more_than(945),
+                                   TRAJ_FLAGS_NO_NEAR);
+       /* circle */
+       strat_set_speed(d, a);
+       trajectory_d_a_rel(&mainboard.traj, 350, -61);
+
+       err = WAIT_COND_OR_TRAJ_END(x_is_more_than(600),
+                                   TRAJ_FLAGS_NO_NEAR);
+
+       strat_set_speed(500, 500);
+       trajectory_line_abs(&mainboard.traj,
+                           375, 1097,
+                           1725, 1847, 100.);
+#else
+       strat_set_speed(500, 500);
+       circle_get_da_speed_from_radius(&mainboard.traj, 225, &d, &a);
+       trajectory_line_abs(&mainboard.traj,
+                           375, 347,
+                           375, 1847, 100.);
+       err = WAIT_COND_OR_TRAJ_END(y_is_more_than(1445),
+                                   TRAJ_FLAGS_NO_NEAR);
+       /* circle */
+       strat_set_speed(d, a);
+       trajectory_d_a_rel(&mainboard.traj, 700, -121);
+
+       err = WAIT_COND_OR_TRAJ_END(x_is_more_than(750),
+                                   TRAJ_FLAGS_NO_NEAR);
+
+       strat_set_speed(500, 500);
+       trajectory_line_abs(&mainboard.traj,
+                           825, 1596,
+                           1950, 972, 100.);
+#endif
 }
 
 prog_char str_test_arg0[] = "test";