X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_traj.c;h=1898bd8f69ce65e22a1f8f9d2506eb8248beb0d9;hp=be9150b3b2fa6bdfff3bef92a5d325a93332c190;hb=dab083b5d263fdf9675362bfe5a85f993a43a6c6;hpb=78150017ab8c5615af414df706a0525fe7c262ae

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index be9150b..1898bd8 100644
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -59,6 +59,7 @@
 #include "strat_utils.h"
 #include "strat_base.h"
 #include "strat.h"
+#include "strat_db.h"
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
 
@@ -441,6 +442,63 @@ parse_pgm_inst_t cmd_track_show = {
 	},
 };
 
+/**********************************************************/
+/* centrifugal configuration */
+
+/* this structure is filled when cmd_centrifugal is parsed successfully */
+struct cmd_centrifugal_result {
+	fixed_string_t arg0;
+	fixed_string_t arg1;
+	float val;
+};
+
+/* function called when cmd_centrifugal is parsed successfully */
+static void cmd_centrifugal_parsed(void * parsed_result, void * data)
+{
+	struct cmd_centrifugal_result * res = parsed_result;
+
+	if (!strcmp_P(res->arg1, PSTR("set"))) {
+		position_set_centrifugal_coef(&mainboard.pos, res->val);
+	}
+	printf_P(PSTR("centrifugal set %f\r\n"), mainboard.pos.centrifugal_coef);
+}
+
+prog_char str_centrifugal_arg0[] = "centrifugal";
+parse_pgm_token_string_t cmd_centrifugal_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg0, str_centrifugal_arg0);
+prog_char str_centrifugal_arg1[] = "set";
+parse_pgm_token_string_t cmd_centrifugal_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_arg1);
+parse_pgm_token_num_t cmd_centrifugal_val = TOKEN_NUM_INITIALIZER(struct cmd_centrifugal_result, val, FLOAT);
+
+prog_char help_centrifugal[] = "Set centrifugal coef";
+parse_pgm_inst_t cmd_centrifugal = {
+	.f = cmd_centrifugal_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_centrifugal,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_centrifugal_arg0,
+		(prog_void *)&cmd_centrifugal_arg1,
+		(prog_void *)&cmd_centrifugal_val,
+		NULL,
+	},
+};
+
+/* show */
+
+prog_char str_centrifugal_show_arg[] = "show";
+parse_pgm_token_string_t cmd_centrifugal_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_show_arg);
+
+prog_char help_centrifugal_show[] = "Show centrifugal";
+parse_pgm_inst_t cmd_centrifugal_show = {
+	.f = cmd_centrifugal_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_centrifugal_show,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_centrifugal_arg0,
+		(prog_void *)&cmd_centrifugal_show_arg,
+		NULL,
+	},
+};
+
 
 
 /**********************************************************/
@@ -765,6 +823,7 @@ static void auto_position(void)
 	interrupt_traj_reset();
 	strat_get_speed(&old_spdd, &old_spda);
 	strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
+	strat_set_acc(3, 3);
 
 	err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
 	if (err == END_INTR)
@@ -779,11 +838,13 @@ static void auto_position(void)
 	if (err == END_INTR)
 		goto intr;
 
+	time_wait_ms(250);
 	trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
 
+	time_wait_ms(250);
 	err = strat_calib(300, END_INTR|END_TRAJ|END_BLOCKING);
 	if (err == END_INTR)
 		goto intr;
@@ -796,13 +857,13 @@ static void auto_position(void)
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
-	wait_ms(100);
+	time_wait_ms(250);
 
 	trajectory_a_rel(&mainboard.traj, COLOR_A(-110));
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
-	wait_ms(100);
+	time_wait_ms(250);
 
 	strat_set_speed(old_spdd, old_spda);
 	return;
@@ -891,37 +952,37 @@ parse_pgm_inst_t cmd_position_set = {
 /**********************************************************/
 /* strat configuration */
 
-/* this structure is filled when cmd_strat_infos is parsed successfully */
-struct cmd_strat_infos_result {
+/* this structure is filled when cmd_strat_db is parsed successfully */
+struct cmd_strat_db_result {
 	fixed_string_t arg0;
 	fixed_string_t arg1;
 };
 
-/* function called when cmd_strat_infos is parsed successfully */
-static void cmd_strat_infos_parsed(void *parsed_result, void *data)
+/* function called when cmd_strat_db is parsed successfully */
+static void cmd_strat_db_parsed(void *parsed_result, void *data)
 {
-	struct cmd_strat_infos_result *res = parsed_result;
+	struct cmd_strat_db_result *res = parsed_result;
 
 	if (!strcmp_P(res->arg1, PSTR("reset"))) {
-		strat_reset_infos();
+		strat_db_init();
 	}
-	strat_infos.dump_enabled = 1;
-	strat_dump_infos(__FUNCTION__);
+	strat_db.dump_enabled = 1;
+	strat_db_dump(__FUNCTION__);
 }
 
-prog_char str_strat_infos_arg0[] = "strat_infos";
-parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
-prog_char str_strat_infos_arg1[] = "show#reset";
-parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
+prog_char str_strat_db_arg0[] = "strat_db";
+parse_pgm_token_string_t cmd_strat_db_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_db_result, arg0, str_strat_db_arg0);
+prog_char str_strat_db_arg1[] = "show#reset";
+parse_pgm_token_string_t cmd_strat_db_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_db_result, arg1, str_strat_db_arg1);
 
-prog_char help_strat_infos[] = "reset/show strat_infos";
-parse_pgm_inst_t cmd_strat_infos = {
-	.f = cmd_strat_infos_parsed,  /* function to call */
+prog_char help_strat_db[] = "reset/show strat_db";
+parse_pgm_inst_t cmd_strat_db = {
+	.f = cmd_strat_db_parsed,  /* function to call */
 	.data = NULL,      /* 2nd arg of func */
-	.help_str = help_strat_infos,
+	.help_str = help_strat_db,
 	.tokens = {        /* token list, NULL terminated */
-		(prog_void *)&cmd_strat_infos_arg0,
-		(prog_void *)&cmd_strat_infos_arg1,
+		(prog_void *)&cmd_strat_db_arg0,
+		(prog_void *)&cmd_strat_db_arg1,
 		NULL,
 	},
 };
@@ -939,9 +1000,8 @@ struct cmd_strat_conf_result {
 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
 {
 	//	struct cmd_strat_conf_result *res = parsed_result;
-
-	strat_infos.dump_enabled = 1;
-	strat_dump_conf();
+	strat_conf.dump_enabled = 1;
+	strat_conf_dump(__FUNCTION__);
 }
 
 prog_char str_strat_conf_arg0[] = "strat_conf";
@@ -1002,12 +1062,12 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 #endif
 
 	if (on)
-		strat_infos.conf.flags |= bit;
+		strat_conf.flags |= bit;
 	else
-		strat_infos.conf.flags &= (~bit);
+		strat_conf.flags &= (~bit);
 
-	strat_infos.dump_enabled = 1;
-	strat_dump_conf();
+	strat_conf.dump_enabled = 1;
+	strat_conf_dump(__FUNCTION__);
 }
 
 prog_char str_strat_conf2_arg0[] = "strat_conf";
@@ -1050,32 +1110,32 @@ static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
 	if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
 		if (res->arg2 > 90)
 			res->arg2 = 90;
-		strat_infos.conf.scan_opp_min_time = res->arg2;
+		strat_conf.scan_opp_min_time = res->arg2;
 	}
 	else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
 		if (res->arg2 > 90)
 			res->arg2 = 90;
-		strat_infos.conf.delay_between_opp_scan = res->arg2;
+		strat_conf.delay_between_opp_scan = res->arg2;
 	}
 	else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
 		if (res->arg2 > 90)
 			res->arg2 = 90;
-		strat_infos.conf.scan_our_min_time = res->arg2;
+		strat_conf.scan_our_min_time = res->arg2;
 	}
 	else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
 		if (res->arg2 > 90)
 			res->arg2 = 90;
-		strat_infos.conf.delay_between_our_scan = res->arg2;
+		strat_conf.delay_between_our_scan = res->arg2;
 	}
 	else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
-		strat_infos.conf.wait_opponent = res->arg2;
+		strat_conf.wait_opponent = res->arg2;
 	}
 	else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
-		strat_infos.conf.lintel_min_time = res->arg2;
+		strat_conf.lintel_min_time = res->arg2;
 	}
 #endif
-	strat_infos.dump_enabled = 1;
-	strat_dump_conf();
+	strat_conf.dump_enabled = 1;
+	strat_conf_dump(__FUNCTION__);
 }
 
 prog_char str_strat_conf3_arg0[] = "strat_conf";