X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_traj.c;h=7bf6057b52a83be8ab6cfa1b92430a9141ac5ba1;hp=0d8368820ebe09de1d3f5682579663070c7b6757;hb=fa8546ea39c7442ad3bf5a822a72a2b50a41045d;hpb=1714f4ee916fca95ce24120ea6e698237913f947

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index 0d83688..7bf6057 100644
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -23,6 +23,7 @@
 #include <stdio.h>
 #include <string.h>
 
+#include <hostsim.h>
 #include <aversive/pgmspace.h>
 #include <aversive/wait.h>
 #include <aversive/error.h>
@@ -38,6 +39,7 @@
 #include <quadramp.h>
 #include <control_system_manager.h>
 #include <trajectory_manager.h>
+#include <trajectory_manager_utils.h>
 #include <vect_base.h>
 #include <lines.h>
 #include <polygon.h>
@@ -144,7 +146,7 @@ static void cmd_circle_coef_parsed(void *parsed_result, void *data)
 		trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
 	}
 
-	printf_P(PSTR("circle_coef %2.2f\r\n"), mainboard.traj.circle_coef);
+	printf_P(PSTR("circle_coef set %2.2f\r\n"), mainboard.traj.circle_coef);
 }
 
 prog_char str_circle_coef_arg0[] = "circle_coef";
@@ -264,6 +266,9 @@ struct cmd_rs_gains_result {
 /* function called when cmd_rs_gains is parsed successfully */
 static void cmd_rs_gains_parsed(void * parsed_result, void * data)
 {
+#ifdef HOST_VERSION
+	printf("not implemented\n");
+#else
 	struct cmd_rs_gains_result * res = parsed_result;
 
 	if (!strcmp_P(res->arg1, PSTR("set"))) {
@@ -274,6 +279,7 @@ static void cmd_rs_gains_parsed(void * parsed_result, void * data)
 	}
 	printf_P(PSTR("rs_gains set %2.2f %2.2f\r\n"),
 		 mainboard.rs.left_ext_gain, mainboard.rs.right_ext_gain);
+#endif
 }
 
 prog_char str_rs_gains_arg0[] = "rs_gains";
@@ -395,14 +401,13 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data)
 	struct cmd_pt_list_result * res = parsed_result;
 	uint8_t i, why=0;
 	
-	if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
-		printf_P(PSTR("not implemented\r\n"));
-		return;
-	}
-
 	if (!strcmp_P(res->arg1, PSTR("append"))) {
 		res->arg2 = pt_list_len;
 	}
+	if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
+		printf_P(PSTR("removed\r\n"));
+		return;
+	}
 
 	if (!strcmp_P(res->arg1, PSTR("insert")) ||
 	    !strcmp_P(res->arg1, PSTR("append"))) {
@@ -442,12 +447,17 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data)
 		printf_P(PSTR("List empty\r\n"));
 		return;
 	}
+ restart:
 	for (i=0 ; i<pt_list_len ; i++) {
 		printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
 		if (!strcmp_P(res->arg1, PSTR("start"))) {
 			trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
 			why = wait_traj_end(0xFF); /* all */
 		}
+		else if (!strcmp_P(res->arg1, PSTR("loop_start"))) {
+			trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
+			why = wait_traj_end(0xFF); /* all */
+		}
 #if 0
 		else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
 			while (1) {
@@ -460,7 +470,13 @@ static void cmd_pt_list_parsed(void * parsed_result, void * data)
 #endif
 		if (why & (~(END_TRAJ | END_NEAR)))
 			trajectory_stop(&mainboard.traj);
+		if (why & END_INTR)
+			break;
 	}
+	if (why & END_INTR)
+		return;
+	if (!strcmp_P(res->arg1, PSTR("loop_start")))
+		goto restart;
 }
 
 prog_char str_pt_list_arg0[] = "pt_list";
@@ -524,7 +540,7 @@ parse_pgm_inst_t cmd_pt_list_del = {
 };
 /* show */
 
-prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
+prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start#loop_start";
 parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
 
 prog_char help_pt_list_show[] = "Show, start or reset pt_list";
@@ -686,43 +702,46 @@ static void auto_position(void)
 	strat_get_speed(&old_spdd, &old_spda);
 	strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
 
-	trajectory_d_rel(&mainboard.traj, -300);
+	trajectory_d_rel(&mainboard.traj, 300);
 	err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
 	if (err == END_INTR)
 		goto intr;
 	wait_ms(100);
-	strat_reset_pos(ROBOT_LENGTH/2, 0, 0);
+	strat_reset_pos(ROBOT_WIDTH/2,
+			COLOR_Y(ROBOT_HALF_LENGTH_FRONT),
+			COLOR_A(-90));
 
-	trajectory_d_rel(&mainboard.traj, 120);
+	trajectory_d_rel(&mainboard.traj, -180);
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
 
-	trajectory_a_rel(&mainboard.traj, COLOR_A(90));
+	trajectory_a_rel(&mainboard.traj, COLOR_A(-90));
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
 
-	trajectory_d_rel(&mainboard.traj, -300);
+	trajectory_d_rel(&mainboard.traj, 300);
 	err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
 	if (err == END_INTR)
 		goto intr;
 	wait_ms(100);
-	strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2),
-			COLOR_A(90));
+	strat_reset_pos(ROBOT_HALF_LENGTH_FRONT,
+			DO_NOT_SET_POS,
+			180);
 
-	trajectory_d_rel(&mainboard.traj, 120);
+	trajectory_d_rel(&mainboard.traj, -170);
 	err = wait_traj_end(END_INTR|END_TRAJ);
 	if (err == END_INTR)
 		goto intr;
 	wait_ms(100);
-	
-	trajectory_a_rel(&mainboard.traj, COLOR_A(-40));
+
+	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);
-	
+
 	strat_set_speed(old_spdd, old_spda);
 	return;
 
@@ -735,7 +754,7 @@ intr:
 static void cmd_position_parsed(void * parsed_result, void * data)
 {
 	struct cmd_position_result * res = parsed_result;
-	
+
 	/* display raw position values */
 	if (!strcmp_P(res->arg1, PSTR("reset"))) {
 		position_set(&mainboard.pos, 0, 0, 0);
@@ -743,16 +762,20 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 	else if (!strcmp_P(res->arg1, PSTR("set"))) {
 		position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
 	}
-	else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) {
-		mainboard.our_color = I2C_COLOR_GREEN;
-		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_GREEN);
-		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_GREEN);
+	else if (!strcmp_P(res->arg1, PSTR("autoset_blue"))) {
+		mainboard.our_color = I2C_COLOR_BLUE;
+#ifndef HOST_VERSION
+		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
+		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+#endif
 		auto_position();
 	}
-	else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
-		mainboard.our_color = I2C_COLOR_RED;
-		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_RED);
-		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_RED);
+	else if (!strcmp_P(res->arg1, PSTR("autoset_yellow"))) {
+		mainboard.our_color = I2C_COLOR_YELLOW;
+#ifndef HOST_VERSION
+		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
+		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+#endif
 		auto_position();
 	}
 
@@ -765,7 +788,7 @@ static void cmd_position_parsed(void * parsed_result, void * data)
 
 prog_char str_position_arg0[] = "position";
 parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
-prog_char str_position_arg1[] = "show#reset#autoset_green#autoset_red";
+prog_char str_position_arg1[] = "show#reset#autoset_blue#autoset_yellow";
 parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
 
 prog_char help_position[] = "Show/reset (x,y,a) position";