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change colors
author
Olivier Matz
<zer0@droids-corp.org>
Tue, 30 Mar 2010 19:08:23 +0000
(21:08 +0200)
committer
Olivier Matz
<zer0@droids-corp.org>
Tue, 30 Mar 2010 19:08:23 +0000
(21:08 +0200)
16 files changed:
projects/microb2010/ballboard/commands_ballboard.c
patch
|
blob
|
history
projects/microb2010/cobboard/commands_cobboard.c
patch
|
blob
|
history
projects/microb2010/common/i2c_commands.h
patch
|
blob
|
history
projects/microb2010/mainboard/commands_mainboard.c
patch
|
blob
|
history
projects/microb2010/mainboard/commands_traj.c
patch
|
blob
|
history
projects/microb2010/mainboard/strat.c
patch
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blob
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history
projects/microb2010/mainboard/strat.h
patch
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blob
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history
projects/microb2010/mainboard/strat_utils.c
patch
|
blob
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history
projects/microb2010/tests/hostsim/commands_mainboard.c
patch
|
blob
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history
projects/microb2010/tests/hostsim/commands_traj.c
patch
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blob
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history
projects/microb2010/tests/hostsim/i2c_commands.h
patch
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blob
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history
projects/microb2010/tests/hostsim/strat.c
patch
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blob
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history
projects/microb2010/tests/hostsim/strat.h
patch
|
blob
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history
projects/microb2010/tests/hostsim/strat_utils.c
patch
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blob
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history
projects/microb2010/tests/test_board2008/commands_traj.c
patch
|
blob
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history
projects/microb2010/tests/test_board2008/strat_utils.c
patch
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blob
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history
diff --git
a/projects/microb2010/ballboard/commands_ballboard.c
b/projects/microb2010/ballboard/commands_ballboard.c
index
03dc830
..
cae215e
100644
(file)
--- a/
projects/microb2010/ballboard/commands_ballboard.c
+++ b/
projects/microb2010/ballboard/commands_ballboard.c
@@
-140,18
+140,18
@@
struct cmd_color_result {
static void cmd_color_parsed(void *parsed_result, void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
static void cmd_color_parsed(void *parsed_result, void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("
red
"))) {
- ballboard.our_color = I2C_COLOR_
RED
;
+ if (!strcmp_P(res->color, PSTR("
yellow
"))) {
+ ballboard.our_color = I2C_COLOR_
YELLOW
;
}
}
- else if (!strcmp_P(res->color, PSTR("
green
"))) {
- ballboard.our_color = I2C_COLOR_
GREEN
;
+ else if (!strcmp_P(res->color, PSTR("
blue
"))) {
+ ballboard.our_color = I2C_COLOR_
BLUE
;
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
-prog_char str_color_color[] = "
green#red
";
+prog_char str_color_color[] = "
blue#yellow
";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
diff --git
a/projects/microb2010/cobboard/commands_cobboard.c
b/projects/microb2010/cobboard/commands_cobboard.c
index
249a69b
..
eb77cba
100644
(file)
--- a/
projects/microb2010/cobboard/commands_cobboard.c
+++ b/
projects/microb2010/cobboard/commands_cobboard.c
@@
-146,18
+146,18
@@
struct cmd_color_result {
static void cmd_color_parsed(void *parsed_result, __attribute__((unused)) void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
static void cmd_color_parsed(void *parsed_result, __attribute__((unused)) void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("
red
"))) {
- cobboard.our_color = I2C_COLOR_
RED
;
+ if (!strcmp_P(res->color, PSTR("
yellow
"))) {
+ cobboard.our_color = I2C_COLOR_
YELLOW
;
}
}
- else if (!strcmp_P(res->color, PSTR("
green
"))) {
- cobboard.our_color = I2C_COLOR_
GREEN
;
+ else if (!strcmp_P(res->color, PSTR("
blue
"))) {
+ cobboard.our_color = I2C_COLOR_
BLUE
;
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
-prog_char str_color_color[] = "
green#red
";
+prog_char str_color_color[] = "
blue#yellow
";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
diff --git
a/projects/microb2010/common/i2c_commands.h
b/projects/microb2010/common/i2c_commands.h
index
49cdb8e
..
fb4829f
100644
(file)
--- a/
projects/microb2010/common/i2c_commands.h
+++ b/
projects/microb2010/common/i2c_commands.h
@@
-28,13
+28,13
@@
#define I2C_COBBOARD_ADDR 2
#define I2C_BALLBOARD_ADDR 3
#define I2C_COBBOARD_ADDR 2
#define I2C_BALLBOARD_ADDR 3
-#define I2C_LEFT_SIDE 0
-#define I2C_RIGHT_SIDE 1
-#define I2C_AUTO_SIDE 2
-#define I2C_CENTER_SIDE 3
+#define I2C_LEFT_SIDE
0
+#define I2C_RIGHT_SIDE
1
+#define I2C_AUTO_SIDE
2
+#define I2C_CENTER_SIDE
3
-#define I2C_COLOR_
RED
0
-#define I2C_COLOR_
GREEN
1
+#define I2C_COLOR_
YELLOW
0
+#define I2C_COLOR_
BLUE
1
#define I2C_COB_BLACK 0
#define I2C_COB_WHITE 1
#define I2C_COB_BLACK 0
#define I2C_COB_WHITE 1
diff --git
a/projects/microb2010/mainboard/commands_mainboard.c
b/projects/microb2010/mainboard/commands_mainboard.c
index
f4e37a8
..
29ecd3d
100644
(file)
--- a/
projects/microb2010/mainboard/commands_mainboard.c
+++ b/
projects/microb2010/mainboard/commands_mainboard.c
@@
-291,15
+291,15
@@
static void cmd_start_parsed(void *parsed_result, void *data)
gen.log_level = 0;
}
gen.log_level = 0;
}
- if (!strcmp_P(res->color, PSTR("
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
);
+ if (!strcmp_P(res->color, PSTR("
yellow
"))) {
+ mainboard.our_color = I2C_COLOR_
YELLOW
;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_
YELLOW
);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_
YELLOW
);
}
}
- else if (!strcmp_P(res->color, PSTR("
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->color, PSTR("
blue
"))) {
+ mainboard.our_color = I2C_COLOR_
BLUE
;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_
BLUE
);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_
BLUE
);
}
strat_start();
}
strat_start();
@@
-310,7
+310,7
@@
static void cmd_start_parsed(void *parsed_result, void *data)
prog_char str_start_arg0[] = "start";
parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0);
prog_char str_start_arg0[] = "start";
parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0);
-prog_char str_start_color[] = "
green#red
";
+prog_char str_start_color[] = "
blue#yellow
";
parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color);
prog_char str_start_debug[] = "debug#match";
parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug);
parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color);
prog_char str_start_debug[] = "debug#match";
parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug);
@@
-543,22
+543,22
@@
struct cmd_color_result {
static void cmd_color_parsed(void *parsed_result, void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
static void cmd_color_parsed(void *parsed_result, void *data)
{
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("
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
);
+ if (!strcmp_P(res->color, PSTR("
yellow
"))) {
+ mainboard.our_color = I2C_COLOR_
YELLOW
;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_
YELLOW
);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_
YELLOW
);
}
}
- else if (!strcmp_P(res->color, PSTR("
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->color, PSTR("
blue
"))) {
+ mainboard.our_color = I2C_COLOR_
BLUE
;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_
BLUE
);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_
BLUE
);
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
}
printf_P(PSTR("Done\r\n"));
}
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
-prog_char str_color_color[] = "
green#red
";
+prog_char str_color_color[] = "
blue#yellow
";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
diff --git
a/projects/microb2010/mainboard/commands_traj.c
b/projects/microb2010/mainboard/commands_traj.c
index
0d83688
..
55bda53
100644
(file)
--- a/
projects/microb2010/mainboard/commands_traj.c
+++ b/
projects/microb2010/mainboard/commands_traj.c
@@
-743,16
+743,16
@@
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("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
;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_
BLUE
);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_
BLUE
);
auto_position();
}
else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
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
);
+ mainboard.our_color = I2C_COLOR_
YELLOW
;
+ i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_
YELLOW
);
+ i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_
YELLOW
);
auto_position();
}
auto_position();
}
@@
-765,7
+765,7
@@
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_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_red";
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";
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";
diff --git
a/projects/microb2010/mainboard/strat.c
b/projects/microb2010/mainboard/strat.c
index
864b00b
..
6743d37
100644
(file)
--- a/
projects/microb2010/mainboard/strat.c
+++ b/
projects/microb2010/mainboard/strat.c
@@
-81,7
+81,7
@@
struct strat_infos strat_infos = {
void strat_set_bounding_box(void)
{
void strat_set_bounding_box(void)
{
- if (get_color() == I2C_COLOR_
RED
) {
+ if (get_color() == I2C_COLOR_
YELLOW
) {
strat_infos.area_bbox.x1 = 300;
strat_infos.area_bbox.y1 = 200;
strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
strat_infos.area_bbox.x1 = 300;
strat_infos.area_bbox.y1 = 200;
strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
diff --git
a/projects/microb2010/mainboard/strat.h
b/projects/microb2010/mainboard/strat.h
index
add640a
..
e92ff4f
100644
(file)
--- a/
projects/microb2010/mainboard/strat.h
+++ b/
projects/microb2010/mainboard/strat.h
@@
-23,10
+23,10
@@
#define _STRAT_H_
/* convert coords according to our color */
#define _STRAT_H_
/* convert coords according to our color */
-#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_
RED
)? (y) : (AREA_Y-(y)))
-#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_
RED
)? (a) : (-a))
-#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_
RED
)? (x) : (-x))
-#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_
RED
)? (x) : (!x))
+#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_
YELLOW
)? (y) : (AREA_Y-(y)))
+#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_
YELLOW
)? (a) : (-a))
+#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_
YELLOW
)? (x) : (-x))
+#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_
YELLOW
)? (x) : (!x))
/* area */
#define AREA_X 3000
/* area */
#define AREA_X 3000
diff --git
a/projects/microb2010/mainboard/strat_utils.c
b/projects/microb2010/mainboard/strat_utils.c
index
b1bf942
..
06df8c7
100644
(file)
--- a/
projects/microb2010/mainboard/strat_utils.c
+++ b/
projects/microb2010/mainboard/strat_utils.c
@@
-171,13
+171,13
@@
uint8_t robot_is_in_area(int16_t margin)
}
/* return 1 or 0 depending on which side of a line (y=cste) is the
}
/* return 1 or 0 depending on which side of a line (y=cste) is the
- * robot. works in
red or green
color. */
+ * robot. works in
yellow or blue
color. */
uint8_t y_is_more_than(int16_t y)
{
int16_t posy;
posy = position_get_y_s16(&mainboard.pos);
uint8_t y_is_more_than(int16_t y)
{
int16_t posy;
posy = position_get_y_s16(&mainboard.pos);
- if (mainboard.our_color == I2C_COLOR_
RED
) {
+ if (mainboard.our_color == I2C_COLOR_
YELLOW
) {
if (posy > y)
return 1;
else
if (posy > y)
return 1;
else
@@
-192,7
+192,7
@@
uint8_t y_is_more_than(int16_t y)
}
/* return 1 or 0 depending on which side of a line (x=cste) is the
}
/* return 1 or 0 depending on which side of a line (x=cste) is the
- * robot. works in
red or green
color. */
+ * robot. works in
yellow or blue
color. */
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
@@
-256,10
+256,10
@@
uint8_t get_color(void)
/* get the color of the opponent robot */
uint8_t get_opponent_color(void)
{
/* get the color of the opponent robot */
uint8_t get_opponent_color(void)
{
- if (mainboard.our_color == I2C_COLOR_
RED
)
- return I2C_COLOR_
GREEN
;
+ if (mainboard.our_color == I2C_COLOR_
YELLOW
)
+ return I2C_COLOR_
BLUE
;
else
else
- return I2C_COLOR_
RED
;
+ return I2C_COLOR_
YELLOW
;
}
/* get the xy pos of the opponent robot */
}
/* get the xy pos of the opponent robot */
diff --git
a/projects/microb2010/tests/hostsim/commands_mainboard.c
b/projects/microb2010/tests/hostsim/commands_mainboard.c
index
ca84489
..
782eac0
100644
(file)
--- a/
projects/microb2010/tests/hostsim/commands_mainboard.c
+++ b/
projects/microb2010/tests/hostsim/commands_mainboard.c
@@
-296,15
+296,15
@@
static void cmd_start_parsed(void *parsed_result, void *data)
gen.log_level = 0;
}
gen.log_level = 0;
}
- if (!strcmp_P(res->color, PSTR("
red
"))) {
- mainboard.our_color = I2C_COLOR_
RED
;
- i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
RED
);
- i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
RED
);
+ if (!strcmp_P(res->color, PSTR("
yellow
"))) {
+ mainboard.our_color = I2C_COLOR_
YELLOW
;
+ i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
YELLOW
);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
YELLOW
);
}
}
- else if (!strcmp_P(res->color, PSTR("
green
"))) {
- mainboard.our_color = I2C_COLOR_
GREEN
;
- i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
GREEN
);
- i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
GREEN
);
+ else if (!strcmp_P(res->color, PSTR("
blue
"))) {
+ mainboard.our_color = I2C_COLOR_
BLUE
;
+ i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
BLUE
);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
BLUE
);
}
printf_P(PSTR("Check that lintel is loaded\r\n"));
}
printf_P(PSTR("Check that lintel is loaded\r\n"));
@@
-324,7
+324,7
@@
static void cmd_start_parsed(void *parsed_result, void *data)
prog_char str_start_arg0[] = "start";
parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0);
prog_char str_start_arg0[] = "start";
parse_pgm_token_string_t cmd_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_start_result, arg0, str_start_arg0);
-prog_char str_start_color[] = "
green#red
";
+prog_char str_start_color[] = "
blue#yellow
";
parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color);
prog_char str_start_debug[] = "debug#match";
parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug);
parse_pgm_token_string_t cmd_start_color = TOKEN_STRING_INITIALIZER(struct cmd_start_result, color, str_start_color);
prog_char str_start_debug[] = "debug#match";
parse_pgm_token_string_t cmd_start_debug = TOKEN_STRING_INITIALIZER(struct cmd_start_result, debug, str_start_debug);
@@
-560,15
+560,15
@@
static void cmd_color_parsed(void *parsed_result, void *data)
printf("not implemented\n");
#else
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
printf("not implemented\n");
#else
struct cmd_color_result *res = (struct cmd_color_result *) parsed_result;
- if (!strcmp_P(res->color, PSTR("
red
"))) {
- mainboard.our_color = I2C_COLOR_
RED
;
- i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
RED
);
- i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
RED
);
+ if (!strcmp_P(res->color, PSTR("
yellow
"))) {
+ mainboard.our_color = I2C_COLOR_
YELLOW
;
+ i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
YELLOW
);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
YELLOW
);
}
}
- else if (!strcmp_P(res->color, PSTR("
green
"))) {
- mainboard.our_color = I2C_COLOR_
GREEN
;
- i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
GREEN
);
- i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
GREEN
);
+ else if (!strcmp_P(res->color, PSTR("
blue
"))) {
+ mainboard.our_color = I2C_COLOR_
BLUE
;
+ i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
BLUE
);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
BLUE
);
}
printf_P(PSTR("Done\r\n"));
#endif
}
printf_P(PSTR("Done\r\n"));
#endif
@@
-576,7
+576,7
@@
static void cmd_color_parsed(void *parsed_result, void *data)
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
prog_char str_color_arg0[] = "color";
parse_pgm_token_string_t cmd_color_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_color_result, arg0, str_color_arg0);
-prog_char str_color_color[] = "
green#red
";
+prog_char str_color_color[] = "
blue#yellow
";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
parse_pgm_token_string_t cmd_color_color = TOKEN_STRING_INITIALIZER(struct cmd_color_result, color, str_color_color);
prog_char help_color[] = "Set our color";
@@
-1427,7
+1427,7
@@
struct cmd_pickup_test_result {
int16_t dist;
};
int16_t dist;
};
-/* return
red or green
sensor */
+/* return
yellow or blue
sensor */
#define COLOR_IR_SENSOR() \
({ \
uint8_t __ret = 0; \
#define COLOR_IR_SENSOR() \
({ \
uint8_t __ret = 0; \
diff --git
a/projects/microb2010/tests/hostsim/commands_traj.c
b/projects/microb2010/tests/hostsim/commands_traj.c
index
f693820
..
e84e4e3
100644
(file)
--- a/
projects/microb2010/tests/hostsim/commands_traj.c
+++ b/
projects/microb2010/tests/hostsim/commands_traj.c
@@
-769,19
+769,19
@@
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("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
;
+ else if (!strcmp_P(res->arg1, PSTR("autoset_
blue
"))) {
+ mainboard.our_color = I2C_COLOR_
BLUE
;
#ifndef HOST_VERSION
#ifndef HOST_VERSION
- i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
GREEN
);
- i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
GREEN
);
+ i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
BLUE
);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
BLUE
);
#endif
auto_position();
}
else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
#endif
auto_position();
}
else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
- mainboard.our_color = I2C_COLOR_
RED
;
+ mainboard.our_color = I2C_COLOR_
YELLOW
;
#ifndef HOST_VERSION
#ifndef HOST_VERSION
- i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
RED
);
- i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
RED
);
+ i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_
YELLOW
);
+ i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_
YELLOW
);
#endif
auto_position();
}
#endif
auto_position();
}
@@
-795,7
+795,7
@@
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_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_red";
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";
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";
diff --git
a/projects/microb2010/tests/hostsim/i2c_commands.h
b/projects/microb2010/tests/hostsim/i2c_commands.h
index
fdb5d49
..
47207fc
100644
(file)
--- a/
projects/microb2010/tests/hostsim/i2c_commands.h
+++ b/
projects/microb2010/tests/hostsim/i2c_commands.h
@@
-31,8
+31,8
@@
#define I2C_AUTO_SIDE 2 /* for prepare_pickup */
#define I2C_CENTER_SIDE 3 /* for prepare_pickup */
#define I2C_AUTO_SIDE 2 /* for prepare_pickup */
#define I2C_CENTER_SIDE 3 /* for prepare_pickup */
-#define I2C_COLOR_
RED
0
-#define I2C_COLOR_
GREEN
1
+#define I2C_COLOR_
YELLOW
0
+#define I2C_COLOR_
BLUE
1
#define I2C_AUTOBUILD_DEFAULT_DIST 210
#define I2C_AUTOBUILD_DEFAULT_DIST 210
diff --git
a/projects/microb2010/tests/hostsim/strat.c
b/projects/microb2010/tests/hostsim/strat.c
index
4cc17fb
..
dc6d865
100644
(file)
--- a/
projects/microb2010/tests/hostsim/strat.c
+++ b/
projects/microb2010/tests/hostsim/strat.c
@@
-183,11
+183,11
@@
struct strat_infos strat_infos = {
/* lintel dispensers */
.l1 = {
/* lintel dispensers */
.l1 = {
- .x = 912, /* XXX for
red
only */
+ .x = 912, /* XXX for
yellow
only */
.name = "lin_disp1",
},
.l2 = {
.name = "lin_disp1",
},
.l2 = {
- .x = 1312, /* XXX for
red
only */
+ .x = 1312, /* XXX for
yellow
only */
.name = "lin_disp2",
},
.name = "lin_disp2",
},
@@
-244,7
+244,7
@@
struct strat_infos strat_infos = {
void strat_set_bounding_box(void)
{
void strat_set_bounding_box(void)
{
- if (get_color() == I2C_COLOR_
RED
) {
+ if (get_color() == I2C_COLOR_
YELLOW
) {
strat_infos.area_bbox.x1 = 300;
strat_infos.area_bbox.y1 = 200;
strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
strat_infos.area_bbox.x1 = 300;
strat_infos.area_bbox.y1 = 200;
strat_infos.area_bbox.x2 = 2720; /* needed for c1 */
@@
-273,7
+273,7
@@
void strat_preinit(void)
#ifndef HOST_VERSION
i2c_mechboard_mode_init();
#ifndef HOST_VERSION
i2c_mechboard_mode_init();
- if (get_color() == I2C_COLOR_
RED
)
+ if (get_color() == I2C_COLOR_
YELLOW
)
i2c_mechboard_mode_prepare_pickup(I2C_LEFT_SIDE);
else
i2c_mechboard_mode_prepare_pickup(I2C_RIGHT_SIDE);
i2c_mechboard_mode_prepare_pickup(I2C_LEFT_SIDE);
else
i2c_mechboard_mode_prepare_pickup(I2C_RIGHT_SIDE);
@@
-537,7
+537,7
@@
void strat_reset_infos(void)
strat_set_bounding_box();
/* set lintel position, depending on color */
strat_set_bounding_box();
/* set lintel position, depending on color */
- if (mainboard.our_color == I2C_COLOR_
RED
) {
+ if (mainboard.our_color == I2C_COLOR_
YELLOW
) {
strat_infos.l1.x = 912;
strat_infos.l2.x = 1312;
}
strat_infos.l1.x = 912;
strat_infos.l2.x = 1312;
}
diff --git
a/projects/microb2010/tests/hostsim/strat.h
b/projects/microb2010/tests/hostsim/strat.h
index
2b2b96a
..
e79d195
100644
(file)
--- a/
projects/microb2010/tests/hostsim/strat.h
+++ b/
projects/microb2010/tests/hostsim/strat.h
@@
-23,10
+23,10
@@
#define _STRAT_H_
/* convert coords according to our color */
#define _STRAT_H_
/* convert coords according to our color */
-#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_
RED
)? (y) : (AREA_Y-(y)))
-#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_
RED
)? (a) : (-a))
-#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_
RED
)? (x) : (-x))
-#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_
RED
)? (x) : (!x))
+#define COLOR_Y(y) ((mainboard.our_color==I2C_COLOR_
YELLOW
)? (y) : (AREA_Y-(y)))
+#define COLOR_A(a) ((mainboard.our_color==I2C_COLOR_
YELLOW
)? (a) : (-a))
+#define COLOR_SIGN(x) ((mainboard.our_color==I2C_COLOR_
YELLOW
)? (x) : (-x))
+#define COLOR_INVERT(x) ((mainboard.our_color==I2C_COLOR_
YELLOW
)? (x) : (!x))
/* area */
#define AREA_X 3000
/* area */
#define AREA_X 3000
@@
-56,7
+56,7
@@
* C2 6 7 8 v C2
* |------ 9 10 11 . ------|
* | | . | |
* C2 6 7 8 v C2
* |------ 9 10 11 . ------|
* | | . | |
- * |
red | . |green
|
+ * |
yellow | . |blue
|
* +-----+--L1--L2-------L2--L1---+-----+
* x
*/
* +-----+--L1--L2-------L2--L1---+-----+
* x
*/
diff --git
a/projects/microb2010/tests/hostsim/strat_utils.c
b/projects/microb2010/tests/hostsim/strat_utils.c
index
57c5a0b
..
6e1bef8
100644
(file)
--- a/
projects/microb2010/tests/hostsim/strat_utils.c
+++ b/
projects/microb2010/tests/hostsim/strat_utils.c
@@
-173,13
+173,13
@@
uint8_t robot_is_near_disc(void)
}
/* return 1 or 0 depending on which side of a line (y=cste) is the
}
/* return 1 or 0 depending on which side of a line (y=cste) is the
- * robot. works in
red or green
color. */
+ * robot. works in
yellow or blue
color. */
uint8_t y_is_more_than(int16_t y)
{
int16_t posy;
posy = position_get_y_s16(&mainboard.pos);
uint8_t y_is_more_than(int16_t y)
{
int16_t posy;
posy = position_get_y_s16(&mainboard.pos);
- if (mainboard.our_color == I2C_COLOR_
RED
) {
+ if (mainboard.our_color == I2C_COLOR_
YELLOW
) {
if (posy > y)
return 1;
else
if (posy > y)
return 1;
else
@@
-194,7
+194,7
@@
uint8_t y_is_more_than(int16_t y)
}
/* return 1 or 0 depending on which side of a line (x=cste) is the
}
/* return 1 or 0 depending on which side of a line (x=cste) is the
- * robot. works in
red or green
color. */
+ * robot. works in
yellow or blue
color. */
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
@@
-258,10
+258,10
@@
uint8_t get_color(void)
/* get the color of the opponent robot */
uint8_t get_opponent_color(void)
{
/* get the color of the opponent robot */
uint8_t get_opponent_color(void)
{
- if (mainboard.our_color == I2C_COLOR_
RED
)
- return I2C_COLOR_
GREEN
;
+ if (mainboard.our_color == I2C_COLOR_
YELLOW
)
+ return I2C_COLOR_
BLUE
;
else
else
- return I2C_COLOR_
RED
;
+ return I2C_COLOR_
YELLOW
;
}
/* get the xy pos of the opponent robot */
}
/* get the xy pos of the opponent robot */
diff --git
a/projects/microb2010/tests/test_board2008/commands_traj.c
b/projects/microb2010/tests/test_board2008/commands_traj.c
index
74d116d
..
e27babf
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/commands_traj.c
+++ b/
projects/microb2010/tests/test_board2008/commands_traj.c
@@
-665,7
+665,7
@@
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("set"))) {
position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
}
- else if (!strcmp_P(res->arg1, PSTR("autoset_
green
"))) {
+ else if (!strcmp_P(res->arg1, PSTR("autoset_
blue
"))) {
auto_position();
}
else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
auto_position();
}
else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
@@
-681,7
+681,7
@@
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_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_red";
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";
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";
diff --git
a/projects/microb2010/tests/test_board2008/strat_utils.c
b/projects/microb2010/tests/test_board2008/strat_utils.c
index
2816744
..
4f510f2
100644
(file)
--- a/
projects/microb2010/tests/test_board2008/strat_utils.c
+++ b/
projects/microb2010/tests/test_board2008/strat_utils.c
@@
-182,13
+182,13
@@
uint8_t robot_is_in_area(int16_t margin)
/* } */
/* /\* return 1 or 0 depending on which side of a line (y=cste) is the */
/* } */
/* /\* return 1 or 0 depending on which side of a line (y=cste) is the */
-/* * robot. works in
red or green
color. *\/ */
+/* * robot. works in
yellow or blue
color. *\/ */
/* uint8_t y_is_more_than(int16_t y) */
/* { */
/* int16_t posy; */
/* posy = position_get_y_s16(&mainboard.pos); */
/* uint8_t y_is_more_than(int16_t y) */
/* { */
/* int16_t posy; */
/* posy = position_get_y_s16(&mainboard.pos); */
-/* if (mainboard.our_color == I2C_COLOR_
RED
) { */
+/* if (mainboard.our_color == I2C_COLOR_
YELLOW
) { */
/* if (posy > y) */
/* return 1; */
/* else */
/* if (posy > y) */
/* return 1; */
/* else */
@@
-203,7
+203,7
@@
uint8_t robot_is_in_area(int16_t margin)
/* } */
/* return 1 or 0 depending on which side of a line (x=cste) is the
/* } */
/* return 1 or 0 depending on which side of a line (x=cste) is the
- * robot. works in
red or green
color. */
+ * robot. works in
yellow or blue
color. */
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
uint8_t x_is_more_than(int16_t x)
{
int16_t posx;
@@
-267,10
+267,10
@@
uint8_t get_color(void)
/* /\* get the color of the opponent robot *\/ */
/* uint8_t get_opponent_color(void) */
/* { */
/* /\* get the color of the opponent robot *\/ */
/* uint8_t get_opponent_color(void) */
/* { */
-/* if (mainboard.our_color == I2C_COLOR_
RED
) */
-/* return I2C_COLOR_
GREEN
; */
+/* if (mainboard.our_color == I2C_COLOR_
YELLOW
) */
+/* return I2C_COLOR_
BLUE
; */
/* else */
/* else */
-/* return I2C_COLOR_
RED
; */
+/* return I2C_COLOR_
YELLOW
; */
/* } */
/* /\* get the xy pos of the opponent robot *\/ */
/* } */
/* /\* get the xy pos of the opponent robot *\/ */