X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=b43f05b94abfca4bec572b2836f550d7592013a6;hp=84ab748df4bb267439ae91aee806fc832bcc4ea1;hb=b699727efceb661be65fbd22e975565b800c628e;hpb=0b4de59b87450f72b588e5e7a2c936bf57edb224

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 84ab748..b43f05b 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -738,11 +738,13 @@ static void cmd_cobboard_setmode1_parsed(void *parsed_result, void *data)
 		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
 	else if (!strcmp_P(res->arg1, PSTR("eject")))
 		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
+	else if (!strcmp_P(res->arg1, PSTR("kickstand")))
+		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
 }
 
 prog_char str_cobboard_setmode1_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
-prog_char str_cobboard_setmode1_arg1[] = "init#eject";
+prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand";
 parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
 
 prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
@@ -790,6 +792,10 @@ static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 		i2c_cobboard_pack(side);
 	}
+	else if (!strcmp_P(res->arg1, PSTR("weak_pack"))) {
+		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		i2c_cobboard_pack_weak(side);
+	}
 	else if (!strcmp_P(res->arg1, PSTR("deploy_nomove"))) {
 		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
 		i2c_cobboard_deploy_nomove(side);
@@ -802,7 +808,7 @@ static void cmd_cobboard_setmode2_parsed(void *parsed_result, void *data)
 
 prog_char str_cobboard_setmode2_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg0, str_cobboard_setmode2_arg0);
-prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#pack#weak_pack#harvest_nomove#deploy_nomove";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg1, str_cobboard_setmode2_arg1);
 prog_char str_cobboard_setmode2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_cobboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode2_result, arg2, str_cobboard_setmode2_arg2);
@@ -1292,75 +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,
-	},
-};