X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=e4eee5750221ae638cdf7cd3dbb58d9d2825c0b7;hp=8a79c35f3f95b589e4d39ff998e8d3090146523f;hb=4e7801883ed4076cb14b63a0571467747894c0f8;hpb=aed049ab6be4e1916457743d53f6b610a21b4854

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 8a79c35..e4eee57 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -66,6 +66,8 @@
 #include "strat.h"
 #include "strat_utils.h"
 #include "strat_base.h"
+#include "strat_db.h"
+#include "strat_corn.h"
 #include "i2c_protocol.h"
 #include "actuator.h"
 
@@ -295,19 +297,16 @@ struct cmd_start_result {
 /* function called when cmd_start is parsed successfully */
 static void cmd_start_parsed(void *parsed_result, void *data)
 {
-#ifdef HOST_VERSION
-	printf("not implemented\n");
-#else
 	struct cmd_start_result *res = parsed_result;
 	uint8_t old_level = gen.log_level;
 
 	gen.logs[NB_LOGS] = E_USER_STRAT;
 	if (!strcmp_P(res->debug, PSTR("debug"))) {
-		strat_infos.dump_enabled = 1;
+		strat_db.dump_enabled = 1;
 		gen.log_level = 5;
 	}
 	else {
-		strat_infos.dump_enabled = 0;
+		strat_db.dump_enabled = 0;
 		gen.log_level = 0;
 	}
 
@@ -326,7 +325,6 @@ static void cmd_start_parsed(void *parsed_result, void *data)
 
 	gen.logs[NB_LOGS] = 0;
 	gen.log_level = old_level;
-#endif
 }
 
 prog_char str_start_arg0[] = "start";
@@ -1129,153 +1127,9 @@ struct cmd_test_result {
 	int32_t dist;
 };
 
-#define LINE_UP     0
-#define LINE_DOWN   1
-#define LINE_R_UP   2
-#define LINE_L_DOWN 3
-#define LINE_L_UP   4
-#define LINE_R_DOWN 5
-
-struct line_2pts {
-	point_t p1;
-	point_t p2;
-};
-
-static void num2line(struct line_2pts *l, uint8_t dir, uint8_t num)
-{
-	float n = num;
-
-	switch (dir) {
-
-	case LINE_UP:
-		l->p1.x = n * 450 + 375;
-		l->p1.y = COLOR_Y(0);
-		l->p2.x = n * 450 + 375;
-		l->p2.y = COLOR_Y(2100);
-		break;
-	case LINE_DOWN:
-		l->p1.x = n * 450 + 375;
-		l->p1.y = COLOR_Y(2100);
-		l->p2.x = n * 450 + 375;
-		l->p2.y = COLOR_Y(0);
-		break;
-	case LINE_R_UP:
-		l->p1.x = 150;
-		l->p1.y = COLOR_Y(-n * 500 + 1472);
-		l->p2.x = 2850;
-		l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
-		break;
-	case LINE_L_DOWN:
-		l->p1.x = 2850;
-		l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
-		l->p2.x = 150;
-		l->p2.y = COLOR_Y(-n * 500 + 1472);
-		break;
-	case LINE_L_UP:
-		l->p1.x = 2850;
-		l->p1.y = COLOR_Y(-n * 500 + 1472);
-		l->p2.x = 150;
-		l->p2.y = COLOR_Y((-n + 4) * 500 + 972);
-		break;
-	case LINE_R_DOWN:
-		l->p1.x = 150;
-		l->p1.y = COLOR_Y((-n + 4) * 500 + 972);
-		l->p2.x = 2850;
-		l->p2.y = COLOR_Y(-n * 500 + 1472);
-		break;
-	default:
-		break;
-	}
-}
-
-#if 0
-static void reverse_line(struct line_2pts *l)
-{
-	point_t tmp;
-
-	tmp.x = l->p1.x;
-	tmp.y = l->p1.y;
-	l->p1.x = l->p2.x;
-	l->p1.y = l->p2.y;
-	l->p2.x = tmp.x;
-	l->p2.y = tmp.y;
-}
-#endif
-
-static void line2line(uint8_t dir1, uint8_t num1,
-		      uint8_t dir2, uint8_t num2)
-{
-	double line1_a_rad, line1_a_deg, line2_a_rad;
-	double diff_a_deg, diff_a_deg_abs, beta_deg;
-	double radius;
-	struct line_2pts l1, l2;
-	line_t ll1, ll2;
-	point_t p;
-
-	/* convert to 2 points */
-	num2line(&l1, dir1, num1);
-	num2line(&l2, dir2, num2);
-
-	printf_P(PSTR("A2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
-		 l1.p1.x, l1.p1.y, l1.p2.x, l1.p2.y);
-	printf_P(PSTR("B2 (%2.2f, %2.2f) -> (%2.2f, %2.2f)\r\n"),
-		 l2.p1.x, l2.p1.y, l2.p2.x, l2.p2.y);
-
-	/* convert to line eq and find intersection */
-	pts2line(&l1.p1, &l1.p2, &ll1);
-	pts2line(&l2.p1, &l2.p2, &ll2);
-	intersect_line(&ll1, &ll2, &p);
-
-	line1_a_rad = atan2(l1.p2.y - l1.p1.y,
-			    l1.p2.x - l1.p1.x);
-	line1_a_deg = DEG(line1_a_rad);
-	line2_a_rad = atan2(l2.p2.y - l2.p1.y,
-			    l2.p2.x - l2.p1.x);
-	diff_a_deg = DEG(line2_a_rad - line1_a_rad);
-	diff_a_deg_abs = fabs(diff_a_deg);
-
-	if (diff_a_deg_abs < 70.) {
-		radius = 200;
-		if (diff_a_deg > 0)
-			beta_deg = 40;
-		else
-			beta_deg = -40;
-	}
-	else if (diff_a_deg_abs < 100.) {
-		radius = 100;
-		if (diff_a_deg > 0)
-			beta_deg = 40;
-		else
-			beta_deg = -40;
-	}
-	else {
-		radius = 120;
-		if (diff_a_deg > 0)
-			beta_deg = 60;
-		else
-			beta_deg = -60;
-	}
-	trajectory_clitoid(&mainboard.traj, l1.p1.x, l1.p1.y,
-			   line1_a_deg, 150., diff_a_deg, beta_deg,
-			   radius, xy_norm(l1.p1.x, l1.p1.y,
-					   p.x, p.y));
-	wait_traj_end(0xFF);
-}
-
 /* function called when cmd_test is parsed successfully */
 static void cmd_test_parsed(void *parsed_result, void *data)
 {
-#ifdef HOST_VERSION
-	strat_reset_pos(298.48, 309.21, 70.02);
-	mainboard.angle.on = 1;
-	mainboard.distance.on = 1;
-#endif
-	time_wait_ms(100);
-
-	line2line(LINE_UP, 0, LINE_R_DOWN, 2);
-	line2line(LINE_R_DOWN, 2, LINE_R_UP, 1);
-
-	trajectory_hardstop(&mainboard.traj);
 }
 
 prog_char str_test_arg0[] = "test";