X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=b43f05b94abfca4bec572b2836f550d7592013a6;hp=713fedf5d9ddf7784aa5e5f6fb7c4721886e6aa1;hb=b699727efceb661be65fbd22e975565b800c628e;hpb=14882b174c151ab59578be5fde147cecc6421e75

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 713fedf..b43f05b 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -1298,75 +1298,3 @@ 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,
-	},
-};