X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=442cf3ab0a2d911d990bc6ed6c8434c3eed02290;hp=6ce17cf9be9179d9051e66879a0e5e31549a828a;hb=b699727efceb661be65fbd22e975565b800c628e;hpb=e442b9c066de9b55eef70fdf9993fc3f6b8259e8

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 6ce17cf..442cf3a 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -284,6 +284,7 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 	}
 
 	case I2C_ANS_BALLBOARD_STATUS: {
+		uint8_t tmp;
 		struct i2c_ans_ballboard_status * ans =
 			(struct i2c_ans_ballboard_status *)buf;
 
@@ -292,6 +293,12 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		ballboard.mode = ans->mode;
 		ballboard.status = ans->status;
 		ballboard.ball_count = ans->ball_count;
+		tmp = ans->lcob;
+		if (tmp != I2C_COB_NONE)
+			ballboard.lcob = tmp;
+		tmp = ans->rcob;
+		if (tmp != I2C_COB_NONE)
+			ballboard.rcob = tmp;
 		break;
 	}
 
@@ -396,22 +403,25 @@ int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
 int8_t i2c_cobboard_set_mode(uint8_t mode)
 {
 #ifdef HOST_VERSION
-	return robotsim_i2c_cobboard_set_mode(mode);
-#else
+	cobboard.mode = mode;
+#endif
 	struct i2c_cmd_cobboard_set_mode buf;
 	buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
 	buf.mode = mode;
 	return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-#endif
 }
 
 static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
 {
+#ifdef HOST_VERSION
+	return robotsim_i2c_cobboard_set_spickles(side, flags);
+#else
 	if (side == I2C_LEFT_SIDE)
 		cobboard.lspickle = flags;
 	else
 		cobboard.rspickle = flags;
 	return 0;
+#endif
 }
 
 int8_t i2c_cobboard_pack(uint8_t side)
@@ -419,7 +429,12 @@ int8_t i2c_cobboard_pack(uint8_t side)
 	return i2c_cobboard_set_spickle(side, 0);
 }
 
-int8_t i2c_cobboard_harvest(uint8_t side)
+int8_t i2c_cobboard_pack_weak(uint8_t side)
+{
+	return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_WEAK);
+}
+
+int8_t i2c_cobboard_autoharvest(uint8_t side)
 {
 	return i2c_cobboard_set_spickle(side,
 					I2C_COBBOARD_SPK_DEPLOY |
@@ -431,6 +446,20 @@ int8_t i2c_cobboard_deploy(uint8_t side)
 	return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
 }
 
+int8_t i2c_cobboard_autoharvest_nomove(uint8_t side)
+{
+	return i2c_cobboard_set_spickle(side,
+					I2C_COBBOARD_SPK_DEPLOY |
+					I2C_COBBOARD_SPK_AUTOHARVEST |
+					I2C_COBBOARD_SPK_NO_MOVE);
+}
+
+int8_t i2c_cobboard_deploy_nomove(uint8_t side)
+{
+	return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+					I2C_COBBOARD_SPK_NO_MOVE);
+}
+
 int8_t i2c_ballboard_set_mode(uint8_t mode)
 {
 	struct i2c_cmd_ballboard_set_mode buf;