X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcommands_cobboard.c;h=669c4c8bc8589ac9753377c0ae9ebc6520e02dc2;hp=bea27e9f83fa7a314261c72b855fc653a9b7b52a;hb=aa68be2d5d596693bda1109e4ccd6489f613b4f7;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index bea27e9..669c4c8 100644
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -193,13 +193,17 @@ static void cmd_state1_parsed(void *parsed_result,
 		state_init();
 	else if (!strcmp_P(res->arg1, PSTR("eject")))
 		state_set_mode(I2C_COBBOARD_MODE_EJECT);
+	else if (!strcmp_P(res->arg1, PSTR("ignore_i2c")))
+		state_set_i2c_ignore(1);
+	else if (!strcmp_P(res->arg1, PSTR("care_i2c")))
+		state_set_i2c_ignore(0);
 
 	/* other commands */
 }
 
 prog_char str_state1_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);
-prog_char str_state1_arg1[] = "init#eject";
+prog_char str_state1_arg1[] = "init#eject#ignore_i2c#care_i2c";
 parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
 
 prog_char help_state1[] = "set cobboard mode";
@@ -229,43 +233,42 @@ static void cmd_state2_parsed(void *parsed_result,
 			      __attribute__((unused)) void *data)
 {
 	struct cmd_state2_result *res = parsed_result;
-	uint8_t side, mode = state_get_mode();
+	uint8_t side;
 
-	if (!strcmp_P(res->arg2, PSTR("left"))) {
+	if (!strcmp_P(res->arg2, PSTR("left")))
 		side = I2C_LEFT_SIDE;
-		mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
-	}
-	else {
+	else
 		side = I2C_RIGHT_SIDE;
-		mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
-	}
 
 	if (!strcmp_P(res->arg1, PSTR("pack"))) {
-		/* nothing to do */
+		state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		state_set_spickle(side, 0);
 	}
 	else if (!strcmp_P(res->arg1, PSTR("deploy"))) {
-		if (side == I2C_LEFT_SIDE)
-			mode |= I2C_COBBOARD_MODE_L_DEPLOY;
-		else
-			mode |= I2C_COBBOARD_MODE_R_DEPLOY;
+		state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
 	}
 	else if (!strcmp_P(res->arg1, PSTR("harvest"))) {
-		if (side == I2C_LEFT_SIDE) {
-			mode |= I2C_COBBOARD_MODE_L_DEPLOY;
-			mode |= I2C_COBBOARD_MODE_L_HARVEST;
-		}
-		else {
-			mode |= I2C_COBBOARD_MODE_R_DEPLOY;
-			mode |= I2C_COBBOARD_MODE_R_HARVEST;
-		}
+		state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+				  I2C_COBBOARD_SPK_AUTOHARVEST);
+	}
+	else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
+		state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+				  I2C_COBBOARD_SPK_NO_MOVE);
+	}
+	else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
+		state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+				  I2C_COBBOARD_SPK_AUTOHARVEST |
+				  I2C_COBBOARD_SPK_NO_MOVE);
 	}
-
-	state_set_mode(mode);
 }
 
 prog_char str_state2_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
-prog_char str_state2_arg1[] = "harvest#deploy#pack";
+prog_char str_state2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
 parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
 prog_char str_state2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);