X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcommands_cobboard.c;h=669c4c8bc8589ac9753377c0ae9ebc6520e02dc2;hp=dbbdd791a85d624c56dcf8b8990e75e7eeca9a12;hb=38196781643cba8e1d681aafb28cdadc51fe20ec;hpb=19cd41f7920628a962928580cd1618a1ee5750aa

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index dbbdd79..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";
@@ -249,11 +253,22 @@ static void cmd_state2_parsed(void *parsed_result,
 		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);
+	}
 }
 
 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);