X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fcommon%2Fi2c_commands.h;h=43eed34fc70c0e23e93f746a913d0d784f82a6e9;hp=35605b8b54eceb3d3cc902fbd3f4b9334752243e;hb=57b3e145f2ff46e1a7e7d522c85f3c56821dbf48;hpb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305

diff --git a/projects/microb2010/common/i2c_commands.h b/projects/microb2010/common/i2c_commands.h
index 35605b8..43eed34 100644
--- a/projects/microb2010/common/i2c_commands.h
+++ b/projects/microb2010/common/i2c_commands.h
@@ -22,6 +22,8 @@
 #ifndef _I2C_COMMANDS_H_
 #define _I2C_COMMANDS_H_
 
+#define I2C_OPPONENT_NOT_THERE -1000
+
 #define I2C_MAINBOARD_ADDR   1
 #define I2C_COBBOARD_ADDR    2
 #define I2C_BALLBOARD_ADDR   3
@@ -34,6 +36,9 @@
 #define I2C_COLOR_RED   0
 #define I2C_COLOR_GREEN 1
 
+#define I2C_COB_BLACK   0
+#define I2C_COB_WHITE   1
+
 struct i2c_cmd_hdr {
 	uint8_t cmd;
 };
@@ -65,18 +70,13 @@ struct i2c_cmd_generic_color {
 
 struct i2c_cmd_cobboard_set_mode {
 	struct i2c_cmd_hdr hdr;
-#define I2C_COBBOARD_MODE_INIT               0x00
-#define I2C_COBBOARD_MODE_MANUAL             0x01
-#define I2C_COBBOARD_MODE_HARVEST            0x02
-#define I2C_COBBOARD_MODE_EXIT               0xFF
-	uint8_t mode;
-	union {
-		struct {
-		} manual;
 
-		struct {
-		} harvest;
-	};
+#define I2C_COBBOARD_MODE_L_DEPLOY     0x01 /* deploy the spickle */
+#define I2C_COBBOARD_MODE_L_HARVEST    0x02 /* auto harvest withe cobs */
+#define I2C_COBBOARD_MODE_R_DEPLOY     0x04 /* deploy the spickle */
+#define I2C_COBBOARD_MODE_R_HARVEST    0x08 /* auto harvest withe cobs */
+#define I2C_COBBOARD_MODE_EJECT        0x10 /* eject cobs */
+	uint8_t mode;
 };
 
 /****/
@@ -104,6 +104,9 @@ struct i2c_ans_cobboard_status {
 	uint8_t status;
 
 	uint8_t cob_count;
+
+	int16_t left_cobroller_speed;
+	int16_t right_cobroller_speed;
 };
 
 #define I2C_REQ_BALLBOARD_STATUS 0x82