X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_traj.c;h=1898bd8f69ce65e22a1f8f9d2506eb8248beb0d9;hp=d63f57ad6b7866e25aa57bac4ed9c2a5e2193ccf;hb=dab083b5d263fdf9675362bfe5a85f993a43a6c6;hpb=4e7801883ed4076cb14b63a0571467747894c0f8

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index d63f57a..1898bd8 100644
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -442,6 +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,
+	},
+};
+
 
 
 /**********************************************************/
@@ -766,6 +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)
@@ -780,11 +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;
@@ -797,13 +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;