X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcobboard%2Fcommands_cobboard.c;h=dc1ec3560fe0b9db4acaaf07f4cb78a7435ef351;hp=bea27e9f83fa7a314261c72b855fc653a9b7b52a;hb=f5502f60124c62801685777bb7c699bdfb7e1166;hpb=6914527de2ecfef9d790740c71739e7418246b96

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index bea27e9..dc1ec35 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);
@@ -756,6 +759,79 @@ parse_pgm_inst_t cmd_spickle_params2_show = {
 	},
 };
 
+/**********************************************************/
+/* Set Shovel Params */
+
+/* this structure is filled when cmd_shovel_current is parsed successfully */
+struct cmd_shovel_current_result {
+	fixed_string_t arg0;
+	fixed_string_t arg1;
+	int32_t arg2;
+	int32_t arg3;
+};
+
+/* function called when cmd_shovel_current is parsed successfully */
+static void cmd_shovel_current_parsed(void *parsed_result,
+				      __attribute__((unused)) void *data)
+{
+	struct cmd_shovel_current_result * res = parsed_result;
+	uint8_t enable;
+	int32_t k1, k2;
+
+	if (!strcmp_P(res->arg1, PSTR("set")))
+		shovel_set_current_limit_coefs(res->arg2, res->arg3);
+	else if (!strcmp_P(res->arg1, PSTR("on")))
+		shovel_current_limit_enable(1);
+	else if (!strcmp_P(res->arg1, PSTR("off")))
+		shovel_current_limit_enable(0);
+
+	/* else show */
+	enable = shovel_get_current_limit_coefs(&k1, &k2);
+	printf_P(PSTR("enabled=%d k1=%"PRIi32" k2=%"PRIi32"\r\n"),
+		 enable, k1, k2);
+}
+
+prog_char str_shovel_current_arg0[] = "shovel_current";
+parse_pgm_token_string_t cmd_shovel_current_arg0 =
+	TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg0, str_shovel_current_arg0);
+prog_char str_shovel_current_arg1[] = "set";
+parse_pgm_token_string_t cmd_shovel_current_arg1 =
+	TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg1, str_shovel_current_arg1);
+parse_pgm_token_num_t cmd_shovel_current_arg2 =
+	TOKEN_NUM_INITIALIZER(struct cmd_shovel_current_result, arg2, INT32);
+parse_pgm_token_num_t cmd_shovel_current_arg3 =
+	TOKEN_NUM_INITIALIZER(struct cmd_shovel_current_result, arg3, INT32);
+
+prog_char help_shovel_current[] = "Set shovel_current values";
+parse_pgm_inst_t cmd_shovel_current = {
+	.f = cmd_shovel_current_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_shovel_current,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_shovel_current_arg0,
+		(prog_void *)&cmd_shovel_current_arg1,
+		(prog_void *)&cmd_shovel_current_arg2,
+		(prog_void *)&cmd_shovel_current_arg3,
+		NULL,
+	},
+};
+
+prog_char str_shovel_current_arg1_show[] = "show#on#off";
+parse_pgm_token_string_t cmd_shovel_current_arg1_show =
+	TOKEN_STRING_INITIALIZER(struct cmd_shovel_current_result, arg1, str_shovel_current_arg1_show);
+
+prog_char help_shovel_current_show[] = "show shovel params";
+parse_pgm_inst_t cmd_shovel_current_show = {
+	.f = cmd_shovel_current_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_shovel_current_show,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_shovel_current_arg0,
+		(prog_void *)&cmd_shovel_current_arg1_show,
+		NULL,
+	},
+};
+
 /**********************************************************/
 /* Test */