X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=84ab748df4bb267439ae91aee806fc832bcc4ea1;hp=13a327ae95ba9309d38daccf9be04e31ae81e82d;hb=0b4de59b87450f72b588e5e7a2c936bf57edb224;hpb=38196781643cba8e1d681aafb28cdadc51fe20ec

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 13a327a..84ab748 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -511,22 +511,27 @@ static void cmd_interact_parsed(void * parsed_result, void * data)
 			}
 		}
 		else {
+#ifdef HOST_VERSION
+#define PWM_INTERACT 300
+#else
+#define PWM_INTERACT 1200
+#endif
 			switch(cmd) {
 			case KEY_UP_ARR:
-				pwm_set_and_save(LEFT_PWM, 1200);
-				pwm_set_and_save(RIGHT_PWM, 1200);
+				pwm_set_and_save(LEFT_PWM, PWM_INTERACT);
+				pwm_set_and_save(RIGHT_PWM, PWM_INTERACT);
 				break;
 			case KEY_LEFT_ARR:
-				pwm_set_and_save(LEFT_PWM, -1200);
-				pwm_set_and_save(RIGHT_PWM, 1200);
+				pwm_set_and_save(LEFT_PWM, -PWM_INTERACT);
+				pwm_set_and_save(RIGHT_PWM, PWM_INTERACT);
 				break;
 			case KEY_DOWN_ARR:
-				pwm_set_and_save(LEFT_PWM, -1200);
-				pwm_set_and_save(RIGHT_PWM, -1200);
+				pwm_set_and_save(LEFT_PWM, -PWM_INTERACT);
+				pwm_set_and_save(RIGHT_PWM, -PWM_INTERACT);
 				break;
 			case KEY_RIGHT_ARR:
-				pwm_set_and_save(LEFT_PWM, 1200);
-				pwm_set_and_save(RIGHT_PWM, -1200);
+				pwm_set_and_save(LEFT_PWM, PWM_INTERACT);
+				pwm_set_and_save(RIGHT_PWM, -PWM_INTERACT);
 				break;
 			}
 		}
@@ -870,6 +875,8 @@ 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
 }
 
@@ -1210,6 +1217,39 @@ parse_pgm_inst_t cmd_strat_event = {
 	},
 };
 
+/**********************************************************/
+/* Sleep */
+
+/* this structure is filled when cmd_sleep is parsed successfully */
+struct cmd_sleep_result {
+	fixed_string_t arg0;
+	uint32_t ms;
+};
+
+/* function called when cmd_sleep is parsed successfully */
+static void cmd_sleep_parsed(void *parsed_result, void *data)
+{
+	struct cmd_sleep_result *res = parsed_result;
+	time_wait_ms(res->ms);
+}
+
+prog_char str_sleep_arg0[] = "sleep";
+parse_pgm_token_string_t cmd_sleep_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sleep_result, arg0, str_sleep_arg0);
+parse_pgm_token_num_t cmd_sleep_ms = TOKEN_NUM_INITIALIZER(struct cmd_sleep_result, ms, UINT32);
+
+prog_char help_sleep[] = "Sleep during some miliseconds";
+parse_pgm_inst_t cmd_sleep = {
+	.f = cmd_sleep_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_sleep,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_sleep_arg0,
+		(prog_void *)&cmd_sleep_ms,
+		NULL,
+	},
+};
+
+
 /**********************************************************/
 /* Test */
 
@@ -1252,3 +1292,75 @@ 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,
+	},
+};