trajectory: follow a line

[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 0de0b2d..ff808c3 100644 (file)
--- a/projects/microb2010/tests/hostsim/commands_mainboard.c
+++ b/projects/microb2010/tests/hostsim/commands_mainboard.c
@@ -30,7 +30,7 @@
 #include <aversive/eeprom.h>
 
 #include <uart.h>
-#include <time.h>
+#include <clock_time.h>
 
 #include <pid.h>
 #include <quadramp.h>
@@ -296,15 +296,15 @@ static void cmd_start_parsed(void *parsed_result, void *data)
                gen.log_level = 0;
        }
 
-       if (!strcmp_P(res->color, PSTR("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);
+       if (!strcmp_P(res->color, PSTR("yellow"))) {
+               mainboard.our_color = I2C_COLOR_YELLOW;
+               i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_YELLOW);
+               i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_YELLOW);
        }
-       else if (!strcmp_P(res->color, PSTR("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->color, PSTR("blue"))) {
+               mainboard.our_color = I2C_COLOR_BLUE;
+               i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_BLUE);
+               i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_BLUE);
        }
 
        printf_P(PSTR("Check that lintel is loaded\r\n"));
@@ -324,7 +324,7 @@ static void cmd_start_parsed(void *parsed_result, void *data)
 
 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);
@@ -560,15 +560,15 @@ static void cmd_color_parsed(void *parsed_result, void *data)
        printf("not implemented\n");
 #else
        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_MECHBOARD_ADDR, I2C_COLOR_RED);
-               i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
+       if (!strcmp_P(res->color, PSTR("yellow"))) {
+               mainboard.our_color = I2C_COLOR_YELLOW;
+               i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_YELLOW);
+               i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_YELLOW);
        }
-       else if (!strcmp_P(res->color, PSTR("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->color, PSTR("blue"))) {
+               mainboard.our_color = I2C_COLOR_BLUE;
+               i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_BLUE);
+               i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_BLUE);
        }
        printf_P(PSTR("Done\r\n"));
 #endif
@@ -576,7 +576,7 @@ static void cmd_color_parsed(void *parsed_result, void *data)
 
 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";
@@ -1427,7 +1427,7 @@ struct cmd_pickup_test_result {
        int16_t dist;
 };
 
-/* return red or green sensor */
+/* return yellow or blue sensor */
 #define COLOR_IR_SENSOR()                                              \
        ({                                                              \
                uint8_t __ret = 0;                                      \
@@ -2198,10 +2198,10 @@ parse_pgm_inst_t cmd_beacon_opp_dump = {
 #endif
 
 /**********************************************************/
-/* Test */
+/* Circle_Radius */
 
-/* this structure is filled when cmd_test is parsed successfully */
-struct cmd_test_result {
+/* this structure is filled when cmd_circle_radius is parsed successfully */
+struct cmd_circle_radius_result {
        fixed_string_t arg0;
        int32_t radius;
 };
@@ -2209,19 +2209,52 @@ void circle_get_da_speed_from_radius(struct trajectory *traj,
                                double radius_mm,
                                double *speed_d,
                                double *speed_a);
-/* function called when cmd_test is parsed successfully */
-static void cmd_test_parsed(void *parsed_result, void *data)
+/* function called when cmd_circle_radius is parsed successfully */
+static void cmd_circle_radius_parsed(void *parsed_result, void *data)
 {
-       struct cmd_test_result *res = parsed_result;
+       struct cmd_circle_radius_result *res = parsed_result;
        double d,a;
        strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
        circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
        printf_P(PSTR("d=%2.2f a=%2.2f\r\n"), d, a);
 }
 
+prog_char str_circle_radius_arg0[] = "circle_radius";
+parse_pgm_token_string_t cmd_circle_radius_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_radius_result, arg0, str_circle_radius_arg0);
+parse_pgm_token_num_t cmd_circle_radius_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_circle_radius_result, radius, INT32);
+
+prog_char help_circle_radius[] = "Circle_Radius function";
+parse_pgm_inst_t cmd_circle_radius = {
+       .f = cmd_circle_radius_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_circle_radius,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_circle_radius_arg0,
+               (prog_void *)&cmd_circle_radius_arg1,
+               NULL,
+       },
+};
+
+/**********************************************************/
+/* Test */
+
+/* this structure is filled when cmd_test is parsed successfully */
+struct cmd_test_result {
+       fixed_string_t arg0;
+};
+void circle_get_da_speed_from_radius(struct trajectory *traj,
+                               double radius_mm,
+                               double *speed_d,
+                               double *speed_a);
+/* 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.);
+}
+
 prog_char str_test_arg0[] = "test";
 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
-parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
 
 prog_char help_test[] = "Test function";
 parse_pgm_inst_t cmd_test = {
@@ -2230,7 +2263,6 @@ parse_pgm_inst_t cmd_test = {
        .help_str = help_test,
        .tokens = {        /* token list, NULL terminated */
                (prog_void *)&cmd_test_arg0,
-               (prog_void *)&cmd_test_arg1,
                NULL,
        },
 };