X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2009%2Fmainboard%2Fcommands_traj.c;h=82477a33bd948d7030cbf6c432cd0136255e9fcd;hp=f3b38fd9c8f843bb05898c81152f3d542497ea3a;hb=dcb7cd39f9e3026ac926fa471056bf52f3f4023f;hpb=ccc6954bb046671b9e28c5806db5121c1eef49c0

diff --git a/projects/microb2009/mainboard/commands_traj.c b/projects/microb2009/mainboard/commands_traj.c
index f3b38fd..82477a3 100644
--- a/projects/microb2009/mainboard/commands_traj.c
+++ b/projects/microb2009/mainboard/commands_traj.c
@@ -215,9 +215,9 @@ static void cmd_rs_gains_parsed(void * parsed_result, void * data)
 					 RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
 	}
 	printf_P(PSTR("rs_gains set "));
-	f64_print(mainboard.rs.left_ext_gain);
+	//f64_print(mainboard.rs.left_ext_gain);
 	printf_P(PSTR(" "));
-	f64_print(mainboard.rs.right_ext_gain);
+	//f64_print(mainboard.rs.right_ext_gain);
 	printf_P(PSTR("\r\n"));
 }
 
@@ -489,6 +489,7 @@ struct cmd_goto_result {
 	int32_t arg2;
 	int32_t arg3;
 	int32_t arg4;
+	int32_t arg5;
 };
 
 /* function called when cmd_goto is parsed successfully */
@@ -539,6 +540,11 @@ static void cmd_goto_parsed(void * parsed_result, void * data)
 	else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
 		trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
 	}
+	else if (!strcmp_P(res->arg1, PSTR("circle_rel"))) {
+		trajectory_circle_rel(&mainboard.traj, res->arg2, res->arg3,
+				      res->arg4, res->arg5, 0);
+		return; /* XXX */
+	}
 	t1 = time_get_us2();
 	while ((err = test_traj_end(0xFF)) == 0) {
 		t2 = time_get_us2();
@@ -592,6 +598,28 @@ parse_pgm_inst_t cmd_goto2 = {
 	},
 };
 
+prog_char str_goto_arg1_c[] = "circle_rel";
+parse_pgm_token_string_t cmd_goto_arg1_c = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_c);
+parse_pgm_token_num_t cmd_goto_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg4, INT32);
+parse_pgm_token_num_t cmd_goto_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg5, INT32);
+
+/* 4 params */
+prog_char help_goto4[] = "Do a circle: (x,y, radius, angle)";
+parse_pgm_inst_t cmd_goto4 = {
+	.f = cmd_goto_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_goto4,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_goto_arg0,
+		(prog_void *)&cmd_goto_arg1_c,
+		(prog_void *)&cmd_goto_arg2,
+		(prog_void *)&cmd_goto_arg3,
+		(prog_void *)&cmd_goto_arg4,
+		(prog_void *)&cmd_goto_arg5,
+		NULL,
+	},
+};
+
 /**********************************************************/
 /* Position tests */