X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fbeacon_tsop%2Fcommands.c;h=7b489fd31159289ad4311bdc961357d68344972b;hp=8a98f49c61a81393ca5342bd4b7fcdb70d10454e;hb=HEAD;hpb=a56bf7c398eb727f67ed0843c6ebef948cc0dd61

diff --git a/projects/microb2010/tests/beacon_tsop/commands.c b/projects/microb2010/tests/beacon_tsop/commands.c
index 8a98f49..7b489fd 100644
--- a/projects/microb2010/tests/beacon_tsop/commands.c
+++ b/projects/microb2010/tests/beacon_tsop/commands.c
@@ -32,7 +32,11 @@
 #include <parse.h>
 #include <rdline.h>
 #include <parse_string.h>
+#include <vect_base.h>
+#include <lines.h>
+#include <circles.h>
 
+#include "trigo.h"
 #include "main.h"
 
 /**********************************************************/
@@ -158,7 +162,24 @@ struct cmd_test_result {
 static void cmd_test_parsed(__attribute__((unused)) void *parsed_result,
 			     __attribute__((unused)) void *data)
 {
+	point_t pos;
+	double a01 = 1.65;
+	double a12 = 2.12;
+	double a20 = 2.53;
+	uint16_t time1, time2;
 
+	cli();
+	time1 = TCNT3;
+	sei();
+
+	if (angles_to_posxy(&pos, a01, a12, a20) < 0)
+		printf_P(PSTR("error\n"));
+
+	cli();
+	time2 = TCNT3;
+	sei();
+
+	printf_P(PSTR("%2.2f %2.2f (t=%d)\n"), pos.x, pos.y, time2-time1);
 }
 
 prog_char str_test_arg0[] = "test";
@@ -177,6 +198,15 @@ parse_pgm_inst_t cmd_test = {
 
 /**********************************************************/
 
+extern parse_pgm_inst_t cmd_gain;
+extern parse_pgm_inst_t cmd_gain_show;
+extern parse_pgm_inst_t cmd_derivate_filter;
+extern parse_pgm_inst_t cmd_derivate_filter_show;
+extern parse_pgm_inst_t cmd_maximum;
+extern parse_pgm_inst_t cmd_maximum_show;
+extern parse_pgm_inst_t cmd_consign;
+extern parse_pgm_inst_t cmd_consign_show;
+
 /* in progmem */
 parse_pgm_ctx_t main_ctx[] = {
 
@@ -185,5 +215,15 @@ parse_pgm_ctx_t main_ctx[] = {
 	(parse_pgm_inst_t *)&cmd_debug_frame,
 	(parse_pgm_inst_t *)&cmd_debug_speed,
 	(parse_pgm_inst_t *)&cmd_test,
+
+	(parse_pgm_inst_t *)&cmd_gain,
+	(parse_pgm_inst_t *)&cmd_gain_show,
+	(parse_pgm_inst_t *)&cmd_derivate_filter,
+	(parse_pgm_inst_t *)&cmd_derivate_filter_show,
+	(parse_pgm_inst_t *)&cmd_maximum,
+	(parse_pgm_inst_t *)&cmd_maximum_show,
+	(parse_pgm_inst_t *)&cmd_consign,
+	(parse_pgm_inst_t *)&cmd_consign_show,
+
 	NULL,
 };