X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=52b6b92ca20c03f0e17855610885bd33e40b8122;hp=13a327ae95ba9309d38daccf9be04e31ae81e82d;hb=17aadc4c8c3e60c2b5e6bbba91c8542849addbd7;hpb=38196781643cba8e1d681aafb28cdadc51fe20ec

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 13a327a..52b6b92 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -870,6 +870,8 @@ static void cmd_ballboard_show_parsed(void * parsed_result, void * data)
 	printf_P(PSTR("mode = %x\r\n"), ballboard.mode);
 	printf_P(PSTR("status = %x\r\n"), ballboard.status);
 	printf_P(PSTR("ball_count = %d\r\n"), ballboard.ball_count);
+	printf_P(PSTR("lcob = %d\r\n"), ballboard.lcob);
+	printf_P(PSTR("rcob = %d\r\n"), ballboard.rcob);
 #endif
 }
 
@@ -1252,3 +1254,75 @@ parse_pgm_inst_t cmd_test = {
 		NULL,
 	},
 };
+
+
+
+
+/**********************************************************/
+/* Climb */
+
+/* this structure is filled when cmd_climb is parsed successfully */
+struct cmd_climb_result {
+	fixed_string_t arg0;
+	int32_t radius;
+	int32_t dist;
+};
+
+
+//#define DIM_BALLS_DOWN 620
+//#define DIM_BALLS_UP 700
+
+#define DIM_BALLS_DOWN 530
+#define DIM_BALLS_UP 700
+
+/* function called when cmd_climb is parsed successfully */
+static void cmd_climb_parsed(void *parsed_result, void *data)
+{
+	uint8_t err;
+
+	printf_P(PSTR("starting Clifenger\r\n"));
+	strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW );
+
+	trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+	trajectory_a_abs(&mainboard.traj, 0);
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+
+
+	trajectory_goto_xy_abs(&mainboard.traj, 1250, 250);
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_DOWN, 0xFF);
+	printf_P(PSTR("ball_pack\r\n"));
+	support_balls_pack();
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_UP, 0xFF);
+	printf_P(PSTR("ball_deploy\r\n"));
+	support_balls_deploy();
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+	/* reach top, go down */
+	trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_UP, 0xFF);
+	printf_P(PSTR("ball_pack\r\n"));
+	support_balls_pack();
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_DOWN, 0xFF);
+	printf_P(PSTR("ball_deploy\r\n"));
+	support_balls_deploy();
+
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+}
+
+prog_char str_climb_arg0[] = "climb";
+parse_pgm_token_string_t cmd_climb_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_climb_result, arg0, str_climb_arg0);
+parse_pgm_token_num_t cmd_climb_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, radius, INT32);
+parse_pgm_token_num_t cmd_climb_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, dist, INT32);
+
+prog_char help_climb[] = "Climb function";
+parse_pgm_inst_t cmd_climb = {
+	.f = cmd_climb_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_climb,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_climb_arg0,
+		NULL,
+	},
+};