add centrifugal command and sleep command

diff --git a/projects/microb2010/mainboard/commands.c b/projects/microb2010/mainboard/commands.c
index 7eda8fd..50be5fa 100644 (file)
--- a/projects/microb2010/mainboard/commands.c
+++ b/projects/microb2010/mainboard/commands.c
@@ -83,8 +83,9 @@ extern parse_pgm_inst_t cmd_servo_balls;
 extern parse_pgm_inst_t cmd_clitoid;
 extern parse_pgm_inst_t cmd_time_monitor;
 extern parse_pgm_inst_t cmd_strat_event;
-extern parse_pgm_inst_t cmd_test;
 extern parse_pgm_inst_t cmd_climb;
+extern parse_pgm_inst_t cmd_sleep;
+extern parse_pgm_inst_t cmd_test;
 
 /* commands_traj.c */
 extern parse_pgm_inst_t cmd_traj_speed;
@@ -99,6 +100,8 @@ extern parse_pgm_inst_t cmd_rs_gains;
 extern parse_pgm_inst_t cmd_rs_gains_show;
 extern parse_pgm_inst_t cmd_track;
 extern parse_pgm_inst_t cmd_track_show;
+extern parse_pgm_inst_t cmd_centrifugal;
+extern parse_pgm_inst_t cmd_centrifugal_show;
 extern parse_pgm_inst_t cmd_pt_list;
 extern parse_pgm_inst_t cmd_pt_list_append;
 extern parse_pgm_inst_t cmd_pt_list_del;
@@ -176,8 +179,9 @@ parse_pgm_ctx_t main_ctx[] = {
        (parse_pgm_inst_t *)&cmd_clitoid,
        (parse_pgm_inst_t *)&cmd_time_monitor,
        (parse_pgm_inst_t *)&cmd_strat_event,
-       (parse_pgm_inst_t *)&cmd_test,
        (parse_pgm_inst_t *)&cmd_climb,
+       (parse_pgm_inst_t *)&cmd_sleep,
+       (parse_pgm_inst_t *)&cmd_test,
 
        /* commands_traj.c */
        (parse_pgm_inst_t *)&cmd_traj_speed,
@@ -192,6 +196,8 @@ parse_pgm_ctx_t main_ctx[] = {
        (parse_pgm_inst_t *)&cmd_rs_gains_show,
        (parse_pgm_inst_t *)&cmd_track,
        (parse_pgm_inst_t *)&cmd_track_show,
+       (parse_pgm_inst_t *)&cmd_centrifugal,
+       (parse_pgm_inst_t *)&cmd_centrifugal_show,
        (parse_pgm_inst_t *)&cmd_pt_list,
        (parse_pgm_inst_t *)&cmd_pt_list_append,
        (parse_pgm_inst_t *)&cmd_pt_list_del,

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 52b6b92..06803c9 100644 (file)
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -1212,6 +1212,39 @@ parse_pgm_inst_t cmd_strat_event = {
        },
 };
 
+/**********************************************************/
+/* Sleep */
+
+/* this structure is filled when cmd_sleep is parsed successfully */
+struct cmd_sleep_result {
+       fixed_string_t arg0;
+       uint32_t ms;
+};
+
+/* function called when cmd_sleep is parsed successfully */
+static void cmd_sleep_parsed(void *parsed_result, void *data)
+{
+       struct cmd_sleep_result *res = parsed_result;
+       time_wait_ms(res->ms);
+}
+
+prog_char str_sleep_arg0[] = "sleep";
+parse_pgm_token_string_t cmd_sleep_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sleep_result, arg0, str_sleep_arg0);
+parse_pgm_token_num_t cmd_sleep_ms = TOKEN_NUM_INITIALIZER(struct cmd_sleep_result, ms, UINT32);
+
+prog_char help_sleep[] = "Sleep during some miliseconds";
+parse_pgm_inst_t cmd_sleep = {
+       .f = cmd_sleep_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_sleep,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_sleep_arg0,
+               (prog_void *)&cmd_sleep_ms,
+               NULL,
+       },
+};
+
+
 /**********************************************************/
 /* Test */
 

diff --git a/projects/microb2010/mainboard/commands_traj.c b/projects/microb2010/mainboard/commands_traj.c
index d63f57a..e519d17 100644 (file)
--- a/projects/microb2010/mainboard/commands_traj.c
+++ b/projects/microb2010/mainboard/commands_traj.c
@@ -442,6 +442,63 @@ parse_pgm_inst_t cmd_track_show = {
        },
 };
 
+/**********************************************************/
+/* centrifugal configuration */
+
+/* this structure is filled when cmd_centrifugal is parsed successfully */
+struct cmd_centrifugal_result {
+       fixed_string_t arg0;
+       fixed_string_t arg1;
+       float val;
+};
+
+/* function called when cmd_centrifugal is parsed successfully */
+static void cmd_centrifugal_parsed(void * parsed_result, void * data)
+{
+       struct cmd_centrifugal_result * res = parsed_result;
+
+       if (!strcmp_P(res->arg1, PSTR("set"))) {
+               position_set_centrifugal_coef(&mainboard.pos, res->val);
+       }
+       printf_P(PSTR("centrifugal set %f\r\n"), mainboard.pos.centrifugal_coef);
+}
+
+prog_char str_centrifugal_arg0[] = "centrifugal";
+parse_pgm_token_string_t cmd_centrifugal_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg0, str_centrifugal_arg0);
+prog_char str_centrifugal_arg1[] = "set";
+parse_pgm_token_string_t cmd_centrifugal_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_arg1);
+parse_pgm_token_num_t cmd_centrifugal_val = TOKEN_NUM_INITIALIZER(struct cmd_centrifugal_result, val, FLOAT);
+
+prog_char help_centrifugal[] = "Set centrifugal coef";
+parse_pgm_inst_t cmd_centrifugal = {
+       .f = cmd_centrifugal_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_centrifugal,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_centrifugal_arg0,
+               (prog_void *)&cmd_centrifugal_arg1,
+               (prog_void *)&cmd_centrifugal_val,
+               NULL,
+       },
+};
+
+/* show */
+
+prog_char str_centrifugal_show_arg[] = "show";
+parse_pgm_token_string_t cmd_centrifugal_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_show_arg);
+
+prog_char help_centrifugal_show[] = "Show centrifugal";
+parse_pgm_inst_t cmd_centrifugal_show = {
+       .f = cmd_centrifugal_parsed,  /* function to call */
+       .data = NULL,      /* 2nd arg of func */
+       .help_str = help_centrifugal_show,
+       .tokens = {        /* token list, NULL terminated */
+               (prog_void *)&cmd_centrifugal_arg0,
+               (prog_void *)&cmd_centrifugal_show_arg,
+               NULL,
+       },
+};
+
 
 
 /**********************************************************/