X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fi2c_protocol.c;h=49b707bdca892570d373d85eddd7330f0717a815;hp=7a2c3780f43a196947f1e3d197d5b5580f2d5b3e;hb=HEAD;hpb=38196781643cba8e1d681aafb28cdadc51fe20ec

diff --git a/projects/microb2010/mainboard/i2c_protocol.c b/projects/microb2010/mainboard/i2c_protocol.c
index 7a2c378..49b707b 100644
--- a/projects/microb2010/mainboard/i2c_protocol.c
+++ b/projects/microb2010/mainboard/i2c_protocol.c
@@ -299,6 +299,10 @@ void i2c_recvevent(uint8_t * buf, int8_t size)
 		tmp = ans->rcob;
 		if (tmp != I2C_COB_NONE)
 			ballboard.rcob = tmp;
+		ballboard.opponent_x = ans->opponent_x;
+		ballboard.opponent_y = ans->opponent_y;
+		ballboard.opponent_a = ans->opponent_a;
+		ballboard.opponent_d = ans->opponent_d;
 		break;
 	}
 
@@ -375,6 +379,10 @@ static int8_t i2c_req_ballboard_status(void)
 	struct i2c_req_ballboard_status buf;
 
 	buf.hdr.cmd = I2C_REQ_BALLBOARD_STATUS;
+	/* robot position */
+	buf.x = position_get_x_s16(&mainboard.pos);
+	buf.y = position_get_y_s16(&mainboard.pos);
+	buf.a = position_get_a_deg_s16(&mainboard.pos);
 	return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
 			sizeof(buf), I2C_CTRL_GENERIC);
 }
@@ -403,22 +411,25 @@ 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)
@@ -426,6 +437,11 @@ int8_t i2c_cobboard_pack(uint8_t side)
 	return i2c_cobboard_set_spickle(side, 0);
 }
 
+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,
@@ -460,3 +476,11 @@ int8_t i2c_ballboard_set_mode(uint8_t mode)
 	return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
 }
 
+int8_t i2c_ballboard_set_beacon(uint8_t enable)
+{
+	struct i2c_cmd_ballboard_start_beacon buf;
+	buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_BEACON;
+	buf.enable = enable;
+	return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+