X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=fc51e8e1b9e75196ef48874bc9529abf2d7b54d4;hp=ee0ffa4524f71377431343dd4e71e0036bf0c76c;hb=0abf8acb258a098ee79cbbdb71f284693489d678;hpb=d776dc0dab6dd3ddf92041f1ad42e521847ea9cf;ds=sidebyside

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index ee0ffa4..fc51e8e 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -785,11 +785,19 @@ 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("deploy_nomove"))) {
+		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		i2c_cobboard_deploy_nomove(side);
+	}
+	else if (!strcmp_P(res->arg1, PSTR("harvest_nomove"))) {
+		i2c_cobboard_set_mode(I2C_COBBOARD_MODE_HARVEST);
+		i2c_cobboard_autoharvest_nomove(side);
+	}
 }
 
 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";
+prog_char str_cobboard_setmode2_arg1[] = "harvest#deploy#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);
@@ -1164,6 +1172,44 @@ parse_pgm_inst_t cmd_time_monitor = {
 	},
 };
 
+
+/**********************************************************/
+/* Strat_Event */
+
+/* this structure is filled when cmd_strat_event is parsed successfully */
+struct cmd_strat_event_result {
+	fixed_string_t arg0;
+	fixed_string_t arg1;
+};
+
+/* function called when cmd_strat_event is parsed successfully */
+static void cmd_strat_event_parsed(void *parsed_result, void *data)
+{
+	struct cmd_strat_event_result *res = parsed_result;
+
+	if (!strcmp_P(res->arg1, PSTR("on")))
+		strat_event_enable();
+	else
+		strat_event_disable();
+}
+
+prog_char str_strat_event_arg0[] = "strat_event";
+parse_pgm_token_string_t cmd_strat_event_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg0, str_strat_event_arg0);
+prog_char str_strat_event_arg1[] = "on#off";
+parse_pgm_token_string_t cmd_strat_event_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_event_result, arg1, str_strat_event_arg1);
+
+prog_char help_strat_event[] = "Enable/disable strat_event callback";
+parse_pgm_inst_t cmd_strat_event = {
+	.f = cmd_strat_event_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_strat_event,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_strat_event_arg0,
+		(prog_void *)&cmd_strat_event_arg1,
+		NULL,
+	},
+};
+
 /**********************************************************/
 /* Test */
 
@@ -1206,3 +1252,75 @@ 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,
+	},
+};