X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_traj.c;h=54c0cccd305a631fa3e4103e05808bd08dc37f7b;hp=09a59b76e41a119ff7436163d833113c76fe2b67;hb=c20f7eb8460dd04e42f95d799f17d9b60b5ee8e4;hpb=28da5858ac871c626153f47566e968ecb05ff52b

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index 09a59b7..54c0ccc 100644
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -62,6 +62,7 @@
 #include "strat_db.h"
 #include "../common/i2c_commands.h"
 #include "i2c_protocol.h"
+#include "beacon.h"
 
 /**********************************************************/
 /* Traj_Speeds for trajectory_manager */
@@ -891,6 +892,7 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 #ifndef HOST_VERSION
 		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
 		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+		beacon_set_color(I2C_COLOR_YELLOW);
 #endif
 		auto_position();
 	}
@@ -900,6 +902,7 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 #ifndef HOST_VERSION
 		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
 		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+		beacon_set_color(I2C_COLOR_BLUE);
 #endif
 		auto_position();
 	}
@@ -1055,6 +1058,8 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 
 	if (!strcmp_P(res->arg1, PSTR("our_orange")))
 		bit = STRAT_CONF_OUR_ORANGE;
+	else if (!strcmp_P(res->arg1, PSTR("wait_obstacle")))
+		bit = STRAT_CONF_WAIT_OBSTACLE;
 
 	if (on)
 		strat_conf.flags |= bit;
@@ -1067,7 +1072,7 @@ static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
 
 prog_char str_strat_conf2_arg0[] = "strat_conf";
 parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
-prog_char str_strat_conf2_arg1[] = "our_orange";
+prog_char str_strat_conf2_arg1[] = "our_orange#wait_obstacle";
 parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
 prog_char str_strat_conf2_arg2[] = "on#off";
 parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);