X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Ftests%2Fhostsim%2Fcommands_mainboard.c;h=02382575e6ddb5182687997cc25820f5e70c6560;hp=782eac096231a69ffc5835d0cb89097c7587ab14;hb=a15451f8535228e9193b5dc042929ca0a7f79d9c;hpb=31bb619b1046f561cff432cb116735b1423a8d89

diff --git a/projects/microb2010/tests/hostsim/commands_mainboard.c b/projects/microb2010/tests/hostsim/commands_mainboard.c
index 782eac0..0238257 100644
--- a/projects/microb2010/tests/hostsim/commands_mainboard.c
+++ b/projects/microb2010/tests/hostsim/commands_mainboard.c
@@ -2241,7 +2241,6 @@ parse_pgm_inst_t cmd_circle_radius = {
 /* this structure is filled when cmd_test is parsed successfully */
 struct cmd_test_result {
 	fixed_string_t arg0;
-	int32_t radius;
 };
 void circle_get_da_speed_from_radius(struct trajectory *traj,
 				double radius_mm,
@@ -2250,24 +2249,52 @@ void circle_get_da_speed_from_radius(struct trajectory *traj,
 /* function called when cmd_test is parsed successfully */
 static void cmd_test_parsed(void *parsed_result, void *data)
 {
-	struct cmd_test_result *res = parsed_result;
-	double d,a;
 	uint8_t err;
+	double d,a;
 
-	strat_reset_pos(1000, 500, 0);
-	strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW);
-	circle_get_da_speed_from_radius(&mainboard.traj, res->radius, &d, &a);
-	trajectory_d_rel(&mainboard.traj, 1000);
-	err = WAIT_COND_OR_TRAJ_END(position_get_x_double(&mainboard.pos) > 1500, 0xFF);
-	if (err)
-		return;
+#if 0
+	strat_set_speed(500, 500);
+	circle_get_da_speed_from_radius(&mainboard.traj, 225, &d, &a);
+	trajectory_line_abs(&mainboard.traj,
+			    375, 347,
+			    375, 1847, 100.);
+	err = WAIT_COND_OR_TRAJ_END(y_is_more_than(945),
+				    TRAJ_FLAGS_NO_NEAR);
+	/* circle */
+	strat_set_speed(d, a);
+	trajectory_d_a_rel(&mainboard.traj, 350, -61);
+
+	err = WAIT_COND_OR_TRAJ_END(x_is_more_than(600),
+				    TRAJ_FLAGS_NO_NEAR);
+
+	strat_set_speed(500, 500);
+	trajectory_line_abs(&mainboard.traj,
+			    375, 1097,
+			    1725, 1847, 100.);
+#else
+	strat_set_speed(500, 500);
+	circle_get_da_speed_from_radius(&mainboard.traj, 225, &d, &a);
+	trajectory_line_abs(&mainboard.traj,
+			    375, 347,
+			    375, 1847, 100.);
+	err = WAIT_COND_OR_TRAJ_END(y_is_more_than(1445),
+				    TRAJ_FLAGS_NO_NEAR);
+	/* circle */
 	strat_set_speed(d, a);
-	trajectory_d_a_rel(&mainboard.traj, 10000, 1000);
+	trajectory_d_a_rel(&mainboard.traj, 700, -121);
+
+	err = WAIT_COND_OR_TRAJ_END(x_is_more_than(750),
+				    TRAJ_FLAGS_NO_NEAR);
+
+	strat_set_speed(500, 500);
+	trajectory_line_abs(&mainboard.traj,
+			    825, 1596,
+			    1950, 972, 100.);
+#endif
 }
 
 prog_char str_test_arg0[] = "test";
 parse_pgm_token_string_t cmd_test_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_test_result, arg0, str_test_arg0);
-parse_pgm_token_num_t cmd_test_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_test_result, radius, INT32);
 
 prog_char help_test[] = "Test function";
 parse_pgm_inst_t cmd_test = {
@@ -2276,7 +2303,6 @@ parse_pgm_inst_t cmd_test = {
 	.help_str = help_test,
 	.tokens = {        /* token list, NULL terminated */
 		(prog_void *)&cmd_test_arg0,
-		(prog_void *)&cmd_test_arg1,
 		NULL,
 	},
 };