2 * Copyright Droids Corporation (2009)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: commands_traj.c,v 1.8 2009-11-08 17:24:33 zer0 Exp $
20 * Olivier MATZ <zer0@droids-corp.org>
26 #include <aversive/pgmspace.h>
27 #include <aversive/wait.h>
28 #include <aversive/error.h>
35 #include <encoders_spi.h>
39 #include <control_system_manager.h>
40 #include <trajectory_manager.h>
41 #include <vect_base.h>
44 #include <obstacle_avoidance.h>
45 #include <blocking_detection_manager.h>
46 #include <robot_system.h>
47 #include <position_manager.h>
51 #include <parse_string.h>
52 #include <parse_num.h>
57 #include "strat_utils.h"
58 #include "strat_base.h"
59 #include "strat_avoid.h"
61 #include "../common/i2c_commands.h"
62 #include "i2c_protocol.h"
64 /**********************************************************/
65 /* Traj_Speeds for trajectory_manager */
67 /* this structure is filled when cmd_traj_speed is parsed successfully */
68 struct cmd_traj_speed_result {
74 /* function called when cmd_traj_speed is parsed successfully */
75 static void cmd_traj_speed_parsed(void *parsed_result, void *data)
77 struct cmd_traj_speed_result * res = parsed_result;
79 if (!strcmp_P(res->arg1, PSTR("angle"))) {
80 trajectory_set_speed(&mainboard.traj, mainboard.traj.d_speed, res->s);
82 else if (!strcmp_P(res->arg1, PSTR("distance"))) {
83 trajectory_set_speed(&mainboard.traj, res->s, mainboard.traj.a_speed);
85 /* else it is a "show" */
87 printf_P(PSTR("angle %u, distance %u\r\n"),
88 mainboard.traj.a_speed,
89 mainboard.traj.d_speed);
92 prog_char str_traj_speed_arg0[] = "traj_speed";
93 parse_pgm_token_string_t cmd_traj_speed_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg0, str_traj_speed_arg0);
94 prog_char str_traj_speed_arg1[] = "angle#distance";
95 parse_pgm_token_string_t cmd_traj_speed_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_arg1);
96 parse_pgm_token_num_t cmd_traj_speed_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_speed_result, s, UINT16);
98 prog_char help_traj_speed[] = "Set traj_speed values for trajectory manager";
99 parse_pgm_inst_t cmd_traj_speed = {
100 .f = cmd_traj_speed_parsed, /* function to call */
101 .data = NULL, /* 2nd arg of func */
102 .help_str = help_traj_speed,
103 .tokens = { /* token list, NULL terminated */
104 (prog_void *)&cmd_traj_speed_arg0,
105 (prog_void *)&cmd_traj_speed_arg1,
106 (prog_void *)&cmd_traj_speed_s,
113 prog_char str_traj_speed_show_arg[] = "show";
114 parse_pgm_token_string_t cmd_traj_speed_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_traj_speed_result, arg1, str_traj_speed_show_arg);
116 prog_char help_traj_speed_show[] = "Show traj_speed values for trajectory manager";
117 parse_pgm_inst_t cmd_traj_speed_show = {
118 .f = cmd_traj_speed_parsed, /* function to call */
119 .data = NULL, /* 2nd arg of func */
120 .help_str = help_traj_speed_show,
121 .tokens = { /* token list, NULL terminated */
122 (prog_void *)&cmd_traj_speed_arg0,
123 (prog_void *)&cmd_traj_speed_show_arg,
128 /**********************************************************/
129 /* circle coef configuration */
131 /* this structure is filled when cmd_circle_coef is parsed successfully */
132 struct cmd_circle_coef_result {
139 /* function called when cmd_circle_coef is parsed successfully */
140 static void cmd_circle_coef_parsed(void *parsed_result, void *data)
142 struct cmd_circle_coef_result *res = parsed_result;
144 if (!strcmp_P(res->arg1, PSTR("set"))) {
145 trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
148 printf_P(PSTR("circle_coef set %2.2f\r\n"), mainboard.traj.circle_coef);
151 prog_char str_circle_coef_arg0[] = "circle_coef";
152 parse_pgm_token_string_t cmd_circle_coef_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg0, str_circle_coef_arg0);
153 prog_char str_circle_coef_arg1[] = "set";
154 parse_pgm_token_string_t cmd_circle_coef_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_arg1);
155 parse_pgm_token_num_t cmd_circle_coef_val = TOKEN_NUM_INITIALIZER(struct cmd_circle_coef_result, circle_coef, FLOAT);
157 prog_char help_circle_coef[] = "Set circle coef";
158 parse_pgm_inst_t cmd_circle_coef = {
159 .f = cmd_circle_coef_parsed, /* function to call */
160 .data = NULL, /* 2nd arg of func */
161 .help_str = help_circle_coef,
162 .tokens = { /* token list, NULL terminated */
163 (prog_void *)&cmd_circle_coef_arg0,
164 (prog_void *)&cmd_circle_coef_arg1,
165 (prog_void *)&cmd_circle_coef_val,
172 prog_char str_circle_coef_show_arg[] = "show";
173 parse_pgm_token_string_t cmd_circle_coef_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_show_arg);
175 prog_char help_circle_coef_show[] = "Show circle coef";
176 parse_pgm_inst_t cmd_circle_coef_show = {
177 .f = cmd_circle_coef_parsed, /* function to call */
178 .data = NULL, /* 2nd arg of func */
179 .help_str = help_circle_coef_show,
180 .tokens = { /* token list, NULL terminated */
181 (prog_void *)&cmd_circle_coef_arg0,
182 (prog_void *)&cmd_circle_coef_show_arg,
187 /**********************************************************/
188 /* trajectory window configuration */
190 /* this structure is filled when cmd_trajectory is parsed successfully */
191 struct cmd_trajectory_result {
200 /* function called when cmd_trajectory is parsed successfully */
201 static void cmd_trajectory_parsed(void * parsed_result, void * data)
203 struct cmd_trajectory_result * res = parsed_result;
205 if (!strcmp_P(res->arg1, PSTR("set"))) {
206 trajectory_set_windows(&mainboard.traj, res->d_win,
207 res->a_win, res->a_start);
210 printf_P(PSTR("trajectory %2.2f %2.2f %2.2f\r\n"), mainboard.traj.d_win,
211 DEG(mainboard.traj.a_win_rad), DEG(mainboard.traj.a_start_rad));
214 prog_char str_trajectory_arg0[] = "trajectory";
215 parse_pgm_token_string_t cmd_trajectory_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg0, str_trajectory_arg0);
216 prog_char str_trajectory_arg1[] = "set";
217 parse_pgm_token_string_t cmd_trajectory_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_arg1);
218 parse_pgm_token_num_t cmd_trajectory_d = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, d_win, FLOAT);
219 parse_pgm_token_num_t cmd_trajectory_a = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_win, FLOAT);
220 parse_pgm_token_num_t cmd_trajectory_as = TOKEN_NUM_INITIALIZER(struct cmd_trajectory_result, a_start, FLOAT);
222 prog_char help_trajectory[] = "Set trajectory windows (distance, angle, angle_start)";
223 parse_pgm_inst_t cmd_trajectory = {
224 .f = cmd_trajectory_parsed, /* function to call */
225 .data = NULL, /* 2nd arg of func */
226 .help_str = help_trajectory,
227 .tokens = { /* token list, NULL terminated */
228 (prog_void *)&cmd_trajectory_arg0,
229 (prog_void *)&cmd_trajectory_arg1,
230 (prog_void *)&cmd_trajectory_d,
231 (prog_void *)&cmd_trajectory_a,
232 (prog_void *)&cmd_trajectory_as,
239 prog_char str_trajectory_show_arg[] = "show";
240 parse_pgm_token_string_t cmd_trajectory_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_trajectory_result, arg1, str_trajectory_show_arg);
242 prog_char help_trajectory_show[] = "Show trajectory window configuration";
243 parse_pgm_inst_t cmd_trajectory_show = {
244 .f = cmd_trajectory_parsed, /* function to call */
245 .data = NULL, /* 2nd arg of func */
246 .help_str = help_trajectory_show,
247 .tokens = { /* token list, NULL terminated */
248 (prog_void *)&cmd_trajectory_arg0,
249 (prog_void *)&cmd_trajectory_show_arg,
254 /**********************************************************/
255 /* rs_gains configuration */
257 /* this structure is filled when cmd_rs_gains is parsed successfully */
258 struct cmd_rs_gains_result {
265 /* function called when cmd_rs_gains is parsed successfully */
266 static void cmd_rs_gains_parsed(void * parsed_result, void * data)
268 struct cmd_rs_gains_result * res = parsed_result;
270 if (!strcmp_P(res->arg1, PSTR("set"))) {
271 rs_set_left_ext_encoder(&mainboard.rs, encoders_spi_get_value,
272 LEFT_ENCODER, res->left); // en augmentant on tourne à gauche
273 rs_set_right_ext_encoder(&mainboard.rs, encoders_spi_get_value,
274 RIGHT_ENCODER, res->right); //en augmentant on tourne à droite
276 printf_P(PSTR("rs_gains set "));
277 //f64_print(mainboard.rs.left_ext_gain);
279 //f64_print(mainboard.rs.right_ext_gain);
280 printf_P(PSTR("\r\n"));
283 prog_char str_rs_gains_arg0[] = "rs_gains";
284 parse_pgm_token_string_t cmd_rs_gains_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg0, str_rs_gains_arg0);
285 prog_char str_rs_gains_arg1[] = "set";
286 parse_pgm_token_string_t cmd_rs_gains_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_arg1);
287 parse_pgm_token_num_t cmd_rs_gains_l = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, left, FLOAT);
288 parse_pgm_token_num_t cmd_rs_gains_r = TOKEN_NUM_INITIALIZER(struct cmd_rs_gains_result, right, FLOAT);
290 prog_char help_rs_gains[] = "Set rs_gains (left, right)";
291 parse_pgm_inst_t cmd_rs_gains = {
292 .f = cmd_rs_gains_parsed, /* function to call */
293 .data = NULL, /* 2nd arg of func */
294 .help_str = help_rs_gains,
295 .tokens = { /* token list, NULL terminated */
296 (prog_void *)&cmd_rs_gains_arg0,
297 (prog_void *)&cmd_rs_gains_arg1,
298 (prog_void *)&cmd_rs_gains_l,
299 (prog_void *)&cmd_rs_gains_r,
306 prog_char str_rs_gains_show_arg[] = "show";
307 parse_pgm_token_string_t cmd_rs_gains_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_rs_gains_result, arg1, str_rs_gains_show_arg);
309 prog_char help_rs_gains_show[] = "Show rs_gains";
310 parse_pgm_inst_t cmd_rs_gains_show = {
311 .f = cmd_rs_gains_parsed, /* function to call */
312 .data = NULL, /* 2nd arg of func */
313 .help_str = help_rs_gains_show,
314 .tokens = { /* token list, NULL terminated */
315 (prog_void *)&cmd_rs_gains_arg0,
316 (prog_void *)&cmd_rs_gains_show_arg,
321 /**********************************************************/
322 /* track configuration */
324 /* this structure is filled when cmd_track is parsed successfully */
325 struct cmd_track_result {
331 /* function called when cmd_track is parsed successfully */
332 static void cmd_track_parsed(void * parsed_result, void * data)
334 struct cmd_track_result * res = parsed_result;
336 if (!strcmp_P(res->arg1, PSTR("set"))) {
337 position_set_physical_params(&mainboard.pos, res->val, DIST_IMP_MM);
339 printf_P(PSTR("track set %f\r\n"), mainboard.pos.phys.track_mm);
342 prog_char str_track_arg0[] = "track";
343 parse_pgm_token_string_t cmd_track_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg0, str_track_arg0);
344 prog_char str_track_arg1[] = "set";
345 parse_pgm_token_string_t cmd_track_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_arg1);
346 parse_pgm_token_num_t cmd_track_val = TOKEN_NUM_INITIALIZER(struct cmd_track_result, val, FLOAT);
348 prog_char help_track[] = "Set track in mm";
349 parse_pgm_inst_t cmd_track = {
350 .f = cmd_track_parsed, /* function to call */
351 .data = NULL, /* 2nd arg of func */
352 .help_str = help_track,
353 .tokens = { /* token list, NULL terminated */
354 (prog_void *)&cmd_track_arg0,
355 (prog_void *)&cmd_track_arg1,
356 (prog_void *)&cmd_track_val,
363 prog_char str_track_show_arg[] = "show";
364 parse_pgm_token_string_t cmd_track_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_track_result, arg1, str_track_show_arg);
366 prog_char help_track_show[] = "Show track";
367 parse_pgm_inst_t cmd_track_show = {
368 .f = cmd_track_parsed, /* function to call */
369 .data = NULL, /* 2nd arg of func */
370 .help_str = help_track_show,
371 .tokens = { /* token list, NULL terminated */
372 (prog_void *)&cmd_track_arg0,
373 (prog_void *)&cmd_track_show_arg,
380 /**********************************************************/
381 /* Pt_Lists for testing traj */
383 #define PT_LIST_SIZE 10
384 static struct xy_point pt_list[PT_LIST_SIZE];
385 static uint16_t pt_list_len = 0;
387 /* this structure is filled when cmd_pt_list is parsed successfully */
388 struct cmd_pt_list_result {
396 /* function called when cmd_pt_list is parsed successfully */
397 static void cmd_pt_list_parsed(void * parsed_result, void * data)
399 struct cmd_pt_list_result * res = parsed_result;
402 if (!strcmp_P(res->arg1, PSTR("append"))) {
403 res->arg2 = pt_list_len;
406 if (!strcmp_P(res->arg1, PSTR("insert")) ||
407 !strcmp_P(res->arg1, PSTR("append"))) {
408 if (res->arg2 > pt_list_len) {
409 printf_P(PSTR("Index too large\r\n"));
412 if (pt_list_len >= PT_LIST_SIZE) {
413 printf_P(PSTR("List is too large\r\n"));
416 memmove(&pt_list[res->arg2+1], &pt_list[res->arg2],
417 PT_LIST_SIZE-1-res->arg2);
418 pt_list[res->arg2].x = res->arg3;
419 pt_list[res->arg2].y = res->arg4;
422 else if (!strcmp_P(res->arg1, PSTR("del"))) {
423 if (pt_list_len <= 0) {
424 printf_P(PSTR("Error: list empty\r\n"));
427 if (res->arg2 > pt_list_len) {
428 printf_P(PSTR("Index too large\r\n"));
431 memmove(&pt_list[res->arg2], &pt_list[res->arg2+1],
432 (PT_LIST_SIZE-1-res->arg2)*sizeof(struct xy_point));
435 else if (!strcmp_P(res->arg1, PSTR("reset"))) {
439 /* else it is a "show" or a "start" */
440 if (pt_list_len == 0) {
441 printf_P(PSTR("List empty\r\n"));
444 for (i=0 ; i<pt_list_len ; i++) {
445 printf_P(PSTR("%d: x=%d y=%d\r\n"), i, pt_list[i].x, pt_list[i].y);
446 if (!strcmp_P(res->arg1, PSTR("start"))) {
447 trajectory_goto_xy_abs(&mainboard.traj, pt_list[i].x, pt_list[i].y);
448 why = wait_traj_end(0xFF); /* all */
450 else if (!strcmp_P(res->arg1, PSTR("avoid_start"))) {
452 why = goto_and_avoid(pt_list[i].x, pt_list[i].y, 0xFF, 0xFF);
453 printf("next point\r\n");
454 if (why != END_OBSTACLE)
458 if (why & (~(END_TRAJ | END_NEAR)))
459 trajectory_stop(&mainboard.traj);
463 prog_char str_pt_list_arg0[] = "pt_list";
464 parse_pgm_token_string_t cmd_pt_list_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg0, str_pt_list_arg0);
465 prog_char str_pt_list_arg1[] = "insert";
466 parse_pgm_token_string_t cmd_pt_list_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1);
467 parse_pgm_token_num_t cmd_pt_list_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg2, UINT16);
468 parse_pgm_token_num_t cmd_pt_list_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg3, INT16);
469 parse_pgm_token_num_t cmd_pt_list_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_pt_list_result, arg4, INT16);
471 prog_char help_pt_list[] = "Insert point in pt_list (idx,x,y)";
472 parse_pgm_inst_t cmd_pt_list = {
473 .f = cmd_pt_list_parsed, /* function to call */
474 .data = NULL, /* 2nd arg of func */
475 .help_str = help_pt_list,
476 .tokens = { /* token list, NULL terminated */
477 (prog_void *)&cmd_pt_list_arg0,
478 (prog_void *)&cmd_pt_list_arg1,
479 (prog_void *)&cmd_pt_list_arg2,
480 (prog_void *)&cmd_pt_list_arg3,
481 (prog_void *)&cmd_pt_list_arg4,
488 prog_char str_pt_list_arg1_append[] = "append";
489 parse_pgm_token_string_t cmd_pt_list_arg1_append = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_arg1_append);
491 prog_char help_pt_list_append[] = "Append point in pt_list (x,y)";
492 parse_pgm_inst_t cmd_pt_list_append = {
493 .f = cmd_pt_list_parsed, /* function to call */
494 .data = NULL, /* 2nd arg of func */
495 .help_str = help_pt_list_append,
496 .tokens = { /* token list, NULL terminated */
497 (prog_void *)&cmd_pt_list_arg0,
498 (prog_void *)&cmd_pt_list_arg1_append,
499 (prog_void *)&cmd_pt_list_arg3,
500 (prog_void *)&cmd_pt_list_arg4,
507 prog_char str_pt_list_del_arg[] = "del";
508 parse_pgm_token_string_t cmd_pt_list_del_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_del_arg);
510 prog_char help_pt_list_del[] = "Del or insert point in pt_list (num)";
511 parse_pgm_inst_t cmd_pt_list_del = {
512 .f = cmd_pt_list_parsed, /* function to call */
513 .data = NULL, /* 2nd arg of func */
514 .help_str = help_pt_list_del,
515 .tokens = { /* token list, NULL terminated */
516 (prog_void *)&cmd_pt_list_arg0,
517 (prog_void *)&cmd_pt_list_del_arg,
518 (prog_void *)&cmd_pt_list_arg2,
524 prog_char str_pt_list_show_arg[] = "show#reset#start#avoid_start";
525 parse_pgm_token_string_t cmd_pt_list_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_pt_list_result, arg1, str_pt_list_show_arg);
527 prog_char help_pt_list_show[] = "Show, start or reset pt_list";
528 parse_pgm_inst_t cmd_pt_list_show = {
529 .f = cmd_pt_list_parsed, /* function to call */
530 .data = NULL, /* 2nd arg of func */
531 .help_str = help_pt_list_show,
532 .tokens = { /* token list, NULL terminated */
533 (prog_void *)&cmd_pt_list_arg0,
534 (prog_void *)&cmd_pt_list_show_arg,
541 /**********************************************************/
544 /* this structure is filled when cmd_goto is parsed successfully */
545 struct cmd_goto_result {
554 /* function called when cmd_goto is parsed successfully */
555 static void cmd_goto_parsed(void * parsed_result, void * data)
557 struct cmd_goto_result * res = parsed_result;
561 interrupt_traj_reset();
562 if (!strcmp_P(res->arg1, PSTR("a_rel"))) {
563 trajectory_a_rel(&mainboard.traj, res->arg2);
565 else if (!strcmp_P(res->arg1, PSTR("d_rel"))) {
566 trajectory_d_rel(&mainboard.traj, res->arg2);
568 else if (!strcmp_P(res->arg1, PSTR("a_abs"))) {
569 trajectory_a_abs(&mainboard.traj, res->arg2);
571 else if (!strcmp_P(res->arg1, PSTR("a_to_xy"))) {
572 trajectory_turnto_xy(&mainboard.traj, res->arg2, res->arg3);
574 else if (!strcmp_P(res->arg1, PSTR("a_behind_xy"))) {
575 trajectory_turnto_xy_behind(&mainboard.traj, res->arg2, res->arg3);
577 else if (!strcmp_P(res->arg1, PSTR("xy_rel"))) {
578 trajectory_goto_xy_rel(&mainboard.traj, res->arg2, res->arg3);
580 else if (!strcmp_P(res->arg1, PSTR("xy_abs"))) {
581 trajectory_goto_xy_abs(&mainboard.traj, res->arg2, res->arg3);
583 else if (!strcmp_P(res->arg1, PSTR("avoid"))) {
584 err = goto_and_avoid_forward(res->arg2, res->arg3, 0xFF, 0xFF);
585 if (err != END_TRAJ && err != END_NEAR)
588 else if (!strcmp_P(res->arg1, PSTR("avoid_bw"))) {
589 err = goto_and_avoid_backward(res->arg2, res->arg3, 0xFF, 0xFF);
590 if (err != END_TRAJ && err != END_NEAR)
593 else if (!strcmp_P(res->arg1, PSTR("xy_abs_fow"))) {
594 trajectory_goto_forward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
596 else if (!strcmp_P(res->arg1, PSTR("xy_abs_back"))) {
597 trajectory_goto_backward_xy_abs(&mainboard.traj, res->arg2, res->arg3);
599 else if (!strcmp_P(res->arg1, PSTR("da_rel"))) {
600 trajectory_d_a_rel(&mainboard.traj, res->arg2, res->arg3);
602 else if (!strcmp_P(res->arg1, PSTR("circle_rel"))) {
603 trajectory_circle_rel(&mainboard.traj, res->arg2, res->arg3,
604 res->arg4, res->arg5, 0);
608 while ((err = test_traj_end(0xFF)) == 0) {
610 if (t2 - t1 > 200000) {
611 dump_cs_debug("angle", &mainboard.angle.cs);
612 dump_cs_debug("distance", &mainboard.distance.cs);
616 if (err != END_TRAJ && err != END_NEAR)
618 printf_P(PSTR("returned %s\r\n"), get_err(err));
621 prog_char str_goto_arg0[] = "goto";
622 parse_pgm_token_string_t cmd_goto_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg0, str_goto_arg0);
623 prog_char str_goto_arg1_a[] = "d_rel#a_rel#a_abs";
624 parse_pgm_token_string_t cmd_goto_arg1_a = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_a);
625 parse_pgm_token_num_t cmd_goto_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg2, INT32);
628 prog_char help_goto1[] = "Change orientation of the mainboard";
629 parse_pgm_inst_t cmd_goto1 = {
630 .f = cmd_goto_parsed, /* function to call */
631 .data = NULL, /* 2nd arg of func */
632 .help_str = help_goto1,
633 .tokens = { /* token list, NULL terminated */
634 (prog_void *)&cmd_goto_arg0,
635 (prog_void *)&cmd_goto_arg1_a,
636 (prog_void *)&cmd_goto_arg2,
641 prog_char str_goto_arg1_b[] = "xy_rel#xy_abs#xy_abs_fow#xy_abs_back#da_rel#a_to_xy#avoid#avoid_bw#a_behind_xy";
642 parse_pgm_token_string_t cmd_goto_arg1_b = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_b);
643 parse_pgm_token_num_t cmd_goto_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg3, INT32);
646 prog_char help_goto2[] = "Go to a (x,y) or (d,a) position";
647 parse_pgm_inst_t cmd_goto2 = {
648 .f = cmd_goto_parsed, /* function to call */
649 .data = NULL, /* 2nd arg of func */
650 .help_str = help_goto2,
651 .tokens = { /* token list, NULL terminated */
652 (prog_void *)&cmd_goto_arg0,
653 (prog_void *)&cmd_goto_arg1_b,
654 (prog_void *)&cmd_goto_arg2,
655 (prog_void *)&cmd_goto_arg3,
660 prog_char str_goto_arg1_c[] = "circle_rel";
661 parse_pgm_token_string_t cmd_goto_arg1_c = TOKEN_STRING_INITIALIZER(struct cmd_goto_result, arg1, str_goto_arg1_c);
662 parse_pgm_token_num_t cmd_goto_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg4, INT32);
663 parse_pgm_token_num_t cmd_goto_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_goto_result, arg5, INT32);
666 prog_char help_goto4[] = "Do a circle: (x,y, radius, angle)";
667 parse_pgm_inst_t cmd_goto4 = {
668 .f = cmd_goto_parsed, /* function to call */
669 .data = NULL, /* 2nd arg of func */
670 .help_str = help_goto4,
671 .tokens = { /* token list, NULL terminated */
672 (prog_void *)&cmd_goto_arg0,
673 (prog_void *)&cmd_goto_arg1_c,
674 (prog_void *)&cmd_goto_arg2,
675 (prog_void *)&cmd_goto_arg3,
676 (prog_void *)&cmd_goto_arg4,
677 (prog_void *)&cmd_goto_arg5,
682 /**********************************************************/
685 /* this structure is filled when cmd_position is parsed successfully */
686 struct cmd_position_result {
694 #define AUTOPOS_SPEED_FAST 200
695 static void auto_position(void)
698 uint16_t old_spdd, old_spda;
700 interrupt_traj_reset();
701 strat_get_speed(&old_spdd, &old_spda);
702 strat_set_speed(AUTOPOS_SPEED_FAST, AUTOPOS_SPEED_FAST);
704 trajectory_d_rel(&mainboard.traj, -300);
705 err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
709 strat_reset_pos(ROBOT_LENGTH/2, 0, 0);
711 trajectory_d_rel(&mainboard.traj, 120);
712 err = wait_traj_end(END_INTR|END_TRAJ);
716 trajectory_a_rel(&mainboard.traj, COLOR_A(90));
717 err = wait_traj_end(END_INTR|END_TRAJ);
721 trajectory_d_rel(&mainboard.traj, -300);
722 err = wait_traj_end(END_INTR|END_TRAJ|END_BLOCKING);
726 strat_reset_pos(DO_NOT_SET_POS, COLOR_Y(ROBOT_LENGTH/2),
729 trajectory_d_rel(&mainboard.traj, 120);
730 err = wait_traj_end(END_INTR|END_TRAJ);
735 trajectory_a_rel(&mainboard.traj, COLOR_A(-40));
736 err = wait_traj_end(END_INTR|END_TRAJ);
741 strat_set_speed(old_spdd, old_spda);
746 strat_set_speed(old_spdd, old_spda);
749 /* function called when cmd_position is parsed successfully */
750 static void cmd_position_parsed(void * parsed_result, void * data)
752 struct cmd_position_result * res = parsed_result;
754 /* display raw position values */
755 if (!strcmp_P(res->arg1, PSTR("reset"))) {
756 position_set(&mainboard.pos, 0, 0, 0);
758 else if (!strcmp_P(res->arg1, PSTR("set"))) {
759 position_set(&mainboard.pos, res->arg2, res->arg3, res->arg4);
761 else if (!strcmp_P(res->arg1, PSTR("autoset_green"))) {
762 mainboard.our_color = I2C_COLOR_GREEN;
763 i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_GREEN);
764 i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_GREEN);
767 else if (!strcmp_P(res->arg1, PSTR("autoset_red"))) {
768 mainboard.our_color = I2C_COLOR_RED;
769 i2c_set_color(I2C_MECHBOARD_ADDR, I2C_COLOR_RED);
770 i2c_set_color(I2C_SENSORBOARD_ADDR, I2C_COLOR_RED);
774 /* else it's just a "show" */
775 printf_P(PSTR("x=%.2f y=%.2f a=%.2f\r\n"),
776 position_get_x_double(&mainboard.pos),
777 position_get_y_double(&mainboard.pos),
778 DEG(position_get_a_rad_double(&mainboard.pos)));
781 prog_char str_position_arg0[] = "position";
782 parse_pgm_token_string_t cmd_position_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg0, str_position_arg0);
783 prog_char str_position_arg1[] = "show#reset#autoset_green#autoset_red";
784 parse_pgm_token_string_t cmd_position_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1);
786 prog_char help_position[] = "Show/reset (x,y,a) position";
787 parse_pgm_inst_t cmd_position = {
788 .f = cmd_position_parsed, /* function to call */
789 .data = NULL, /* 2nd arg of func */
790 .help_str = help_position,
791 .tokens = { /* token list, NULL terminated */
792 (prog_void *)&cmd_position_arg0,
793 (prog_void *)&cmd_position_arg1,
799 prog_char str_position_arg1_set[] = "set";
800 parse_pgm_token_string_t cmd_position_arg1_set = TOKEN_STRING_INITIALIZER(struct cmd_position_result, arg1, str_position_arg1_set);
801 parse_pgm_token_num_t cmd_position_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg2, INT32);
802 parse_pgm_token_num_t cmd_position_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg3, INT32);
803 parse_pgm_token_num_t cmd_position_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_position_result, arg4, INT32);
805 prog_char help_position_set[] = "Set (x,y,a) position";
806 parse_pgm_inst_t cmd_position_set = {
807 .f = cmd_position_parsed, /* function to call */
808 .data = NULL, /* 2nd arg of func */
809 .help_str = help_position_set,
810 .tokens = { /* token list, NULL terminated */
811 (prog_void *)&cmd_position_arg0,
812 (prog_void *)&cmd_position_arg1_set,
813 (prog_void *)&cmd_position_arg2,
814 (prog_void *)&cmd_position_arg3,
815 (prog_void *)&cmd_position_arg4,
821 /**********************************************************/
822 /* strat configuration */
824 /* this structure is filled when cmd_strat_infos is parsed successfully */
825 struct cmd_strat_infos_result {
830 /* function called when cmd_strat_infos is parsed successfully */
831 static void cmd_strat_infos_parsed(void *parsed_result, void *data)
833 struct cmd_strat_infos_result *res = parsed_result;
835 if (!strcmp_P(res->arg1, PSTR("reset"))) {
838 strat_infos.dump_enabled = 1;
839 strat_dump_infos(__FUNCTION__);
842 prog_char str_strat_infos_arg0[] = "strat_infos";
843 parse_pgm_token_string_t cmd_strat_infos_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg0, str_strat_infos_arg0);
844 prog_char str_strat_infos_arg1[] = "show#reset";
845 parse_pgm_token_string_t cmd_strat_infos_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_infos_result, arg1, str_strat_infos_arg1);
847 prog_char help_strat_infos[] = "reset/show strat_infos";
848 parse_pgm_inst_t cmd_strat_infos = {
849 .f = cmd_strat_infos_parsed, /* function to call */
850 .data = NULL, /* 2nd arg of func */
851 .help_str = help_strat_infos,
852 .tokens = { /* token list, NULL terminated */
853 (prog_void *)&cmd_strat_infos_arg0,
854 (prog_void *)&cmd_strat_infos_arg1,
859 /**********************************************************/
860 /* strat configuration */
862 /* this structure is filled when cmd_strat_conf is parsed successfully */
863 struct cmd_strat_conf_result {
868 /* function called when cmd_strat_conf is parsed successfully */
869 static void cmd_strat_conf_parsed(void *parsed_result, void *data)
871 struct cmd_strat_conf_result *res = parsed_result;
873 if (!strcmp_P(res->arg1, PSTR("base"))) {
874 strat_infos.conf.flags = 0;
875 strat_infos.conf.scan_our_min_time = 90;
876 strat_infos.conf.delay_between_our_scan = 90;
877 strat_infos.conf.scan_opp_min_time = 90;
878 strat_infos.conf.delay_between_opp_scan = 90;
880 else if (!strcmp_P(res->arg1, PSTR("big3"))) {
881 strat_infos.conf.flags =
882 STRAT_CONF_STORE_STATIC2 |
883 STRAT_CONF_BIG_3_TEMPLE;
884 strat_infos.conf.scan_our_min_time = 90;
885 strat_infos.conf.delay_between_our_scan = 90;
886 strat_infos.conf.scan_opp_min_time = 90;
887 strat_infos.conf.delay_between_opp_scan = 90;
889 else if (!strcmp_P(res->arg1, PSTR("base_check"))) {
890 strat_infos.conf.flags = 0;
891 strat_infos.conf.scan_our_min_time = 35;
892 strat_infos.conf.delay_between_our_scan = 90;
893 strat_infos.conf.scan_opp_min_time = 90;
894 strat_infos.conf.delay_between_opp_scan = 90;
896 else if (!strcmp_P(res->arg1, PSTR("big3_check"))) {
897 strat_infos.conf.flags =
898 STRAT_CONF_STORE_STATIC2 |
899 STRAT_CONF_BIG_3_TEMPLE;
900 strat_infos.conf.scan_our_min_time = 35;
901 strat_infos.conf.delay_between_our_scan = 90;
902 strat_infos.conf.scan_opp_min_time = 90;
903 strat_infos.conf.delay_between_opp_scan = 90;
905 else if (!strcmp_P(res->arg1, PSTR("offensive_early"))) {
906 strat_infos.conf.flags =
907 STRAT_CONF_TAKE_ONE_LINTEL |
908 STRAT_CONF_STORE_STATIC2 |
909 STRAT_CONF_EARLY_SCAN |
910 STRAT_CONF_PUSH_OPP_COLS;
911 strat_infos.conf.scan_our_min_time = 50;
912 strat_infos.conf.delay_between_our_scan = 90;
913 strat_infos.conf.scan_opp_min_time = 15;
914 strat_infos.conf.delay_between_opp_scan = 90;
915 strat_infos.conf.wait_opponent = 5;
917 else if (!strcmp_P(res->arg1, PSTR("offensive_late"))) {
918 strat_infos.conf.flags = STRAT_CONF_TAKE_ONE_LINTEL;
919 strat_infos.conf.scan_our_min_time = 90;
920 strat_infos.conf.delay_between_our_scan = 90;
921 strat_infos.conf.scan_opp_min_time = 30;
922 strat_infos.conf.delay_between_opp_scan = 90;
924 else if (!strcmp_P(res->arg1, PSTR("one_on_disc"))) {
925 strat_infos.conf.flags =
926 STRAT_CONF_ONLY_ONE_ON_DISC;
927 strat_infos.conf.scan_our_min_time = 90;
928 strat_infos.conf.delay_between_our_scan = 90;
929 strat_infos.conf.scan_opp_min_time = 90;
930 strat_infos.conf.delay_between_opp_scan = 90;
932 strat_infos.dump_enabled = 1;
936 prog_char str_strat_conf_arg0[] = "strat_conf";
937 parse_pgm_token_string_t cmd_strat_conf_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg0, str_strat_conf_arg0);
938 prog_char str_strat_conf_arg1[] = "show#base#big3#base_check#big3_check#offensive_early#offensive_late#one_on_disc";
939 parse_pgm_token_string_t cmd_strat_conf_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf_result, arg1, str_strat_conf_arg1);
941 prog_char help_strat_conf[] = "configure strat options";
942 parse_pgm_inst_t cmd_strat_conf = {
943 .f = cmd_strat_conf_parsed, /* function to call */
944 .data = NULL, /* 2nd arg of func */
945 .help_str = help_strat_conf,
946 .tokens = { /* token list, NULL terminated */
947 (prog_void *)&cmd_strat_conf_arg0,
948 (prog_void *)&cmd_strat_conf_arg1,
953 /**********************************************************/
954 /* strat configuration */
956 /* this structure is filled when cmd_strat_conf2 is parsed successfully */
957 struct cmd_strat_conf2_result {
963 /* function called when cmd_strat_conf2 is parsed successfully */
964 static void cmd_strat_conf2_parsed(void *parsed_result, void *data)
966 struct cmd_strat_conf2_result *res = parsed_result;
969 if (!strcmp_P(res->arg2, PSTR("on")))
974 if (!strcmp_P(res->arg1, PSTR("one_temple_on_disc")))
975 bit = STRAT_CONF_ONLY_ONE_ON_DISC;
976 else if (!strcmp_P(res->arg1, PSTR("bypass_static2")))
977 bit = STRAT_CONF_BYPASS_STATIC2;
978 else if (!strcmp_P(res->arg1, PSTR("take_one_lintel")))
979 bit = STRAT_CONF_TAKE_ONE_LINTEL;
980 else if (!strcmp_P(res->arg1, PSTR("skip_when_check_fail")))
981 bit = STRAT_CONF_TAKE_ONE_LINTEL;
982 else if (!strcmp_P(res->arg1, PSTR("store_static2")))
983 bit = STRAT_CONF_STORE_STATIC2;
984 else if (!strcmp_P(res->arg1, PSTR("big3_temple")))
985 bit = STRAT_CONF_BIG_3_TEMPLE;
986 else if (!strcmp_P(res->arg1, PSTR("early_opp_scan")))
987 bit = STRAT_CONF_EARLY_SCAN;
988 else if (!strcmp_P(res->arg1, PSTR("push_opp_cols")))
989 bit = STRAT_CONF_PUSH_OPP_COLS;
992 strat_infos.conf.flags |= bit;
994 strat_infos.conf.flags &= (~bit);
996 strat_infos.dump_enabled = 1;
1000 prog_char str_strat_conf2_arg0[] = "strat_conf";
1001 parse_pgm_token_string_t cmd_strat_conf2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg0, str_strat_conf2_arg0);
1002 prog_char str_strat_conf2_arg1[] = "push_opp_cols#one_temple_on_disc#bypass_static2#take_one_lintel#skip_when_check_fail#store_static2#big3_temple#early_opp_scan";
1003 parse_pgm_token_string_t cmd_strat_conf2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg1, str_strat_conf2_arg1);
1004 prog_char str_strat_conf2_arg2[] = "on#off";
1005 parse_pgm_token_string_t cmd_strat_conf2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf2_result, arg2, str_strat_conf2_arg2);
1008 prog_char help_strat_conf2[] = "configure strat options";
1009 parse_pgm_inst_t cmd_strat_conf2 = {
1010 .f = cmd_strat_conf2_parsed, /* function to call */
1011 .data = NULL, /* 2nd arg of func */
1012 .help_str = help_strat_conf2,
1013 .tokens = { /* token list, NULL terminated */
1014 (prog_void *)&cmd_strat_conf2_arg0,
1015 (prog_void *)&cmd_strat_conf2_arg1,
1016 (prog_void *)&cmd_strat_conf2_arg2,
1021 /**********************************************************/
1022 /* strat configuration */
1024 /* this structure is filled when cmd_strat_conf3 is parsed successfully */
1025 struct cmd_strat_conf3_result {
1026 fixed_string_t arg0;
1027 fixed_string_t arg1;
1031 /* function called when cmd_strat_conf3 is parsed successfully */
1032 static void cmd_strat_conf3_parsed(void *parsed_result, void *data)
1034 struct cmd_strat_conf3_result *res = parsed_result;
1036 if (!strcmp_P(res->arg1, PSTR("scan_opponent_min_time"))) {
1039 strat_infos.conf.scan_opp_min_time = res->arg2;
1041 else if (!strcmp_P(res->arg1, PSTR("delay_between_opponent_scan"))) {
1044 strat_infos.conf.delay_between_opp_scan = res->arg2;
1046 else if (!strcmp_P(res->arg1, PSTR("scan_our_min_time"))) {
1049 strat_infos.conf.scan_our_min_time = res->arg2;
1051 else if (!strcmp_P(res->arg1, PSTR("delay_between_our_scan"))) {
1054 strat_infos.conf.delay_between_our_scan = res->arg2;
1056 else if (!strcmp_P(res->arg1, PSTR("wait_opponent"))) {
1057 strat_infos.conf.wait_opponent = res->arg2;
1059 else if (!strcmp_P(res->arg1, PSTR("lintel_min_time"))) {
1060 strat_infos.conf.lintel_min_time = res->arg2;
1062 strat_infos.dump_enabled = 1;
1066 prog_char str_strat_conf3_arg0[] = "strat_conf";
1067 parse_pgm_token_string_t cmd_strat_conf3_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg0, str_strat_conf3_arg0);
1068 prog_char str_strat_conf3_arg1[] = "lintel_min_time#scan_opponent_min_time#delay_between_opponent_scan#scan_our_min_time#delay_between_our_scan#wait_opponent";
1069 parse_pgm_token_string_t cmd_strat_conf3_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf3_result, arg1, str_strat_conf3_arg1);
1070 parse_pgm_token_num_t cmd_strat_conf3_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf3_result, arg2, UINT16);
1072 prog_char help_strat_conf3[] = "configure strat options";
1073 parse_pgm_inst_t cmd_strat_conf3 = {
1074 .f = cmd_strat_conf3_parsed, /* function to call */
1075 .data = NULL, /* 2nd arg of func */
1076 .help_str = help_strat_conf3,
1077 .tokens = { /* token list, NULL terminated */
1078 (prog_void *)&cmd_strat_conf3_arg0,
1079 (prog_void *)&cmd_strat_conf3_arg1,
1080 (prog_void *)&cmd_strat_conf3_arg2,
1085 /**********************************************************/
1086 /* strat configuration */
1088 /* this structure is filled when cmd_strat_conf4 is parsed successfully */
1089 struct cmd_strat_conf4_result {
1090 fixed_string_t arg0;
1091 fixed_string_t arg1;
1095 /* function called when cmd_strat_conf4 is parsed successfully */
1096 static void cmd_strat_conf4_parsed(void *parsed_result, void *data)
1098 struct cmd_strat_conf4_result *res = parsed_result;
1100 if (!strcmp_P(res->arg1, PSTR("scan_opponent_angle"))) {
1101 strat_infos.conf.scan_opp_angle = res->arg2;
1103 strat_infos.dump_enabled = 1;
1107 prog_char str_strat_conf4_arg0[] = "strat_conf";
1108 parse_pgm_token_string_t cmd_strat_conf4_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg0, str_strat_conf4_arg0);
1109 prog_char str_strat_conf4_arg1[] = "scan_opponent_angle";
1110 parse_pgm_token_string_t cmd_strat_conf4_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_strat_conf4_result, arg1, str_strat_conf4_arg1);
1111 parse_pgm_token_num_t cmd_strat_conf4_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_strat_conf4_result, arg2, UINT16);
1113 prog_char help_strat_conf4[] = "configure strat options";
1114 parse_pgm_inst_t cmd_strat_conf4 = {
1115 .f = cmd_strat_conf4_parsed, /* function to call */
1116 .data = NULL, /* 2nd arg of func */
1117 .help_str = help_strat_conf4,
1118 .tokens = { /* token list, NULL terminated */
1119 (prog_void *)&cmd_strat_conf4_arg0,
1120 (prog_void *)&cmd_strat_conf4_arg1,
1121 (prog_void *)&cmd_strat_conf4_arg2,
1127 /**********************************************************/
1130 /* this structure is filled when cmd_subtraj is parsed successfully */
1131 struct cmd_subtraj_result {
1132 fixed_string_t arg0;
1133 fixed_string_t arg1;
1140 /* function called when cmd_subtraj is parsed successfully */
1141 static void cmd_subtraj_parsed(void *parsed_result, void *data)
1143 struct cmd_subtraj_result *res = parsed_result;
1145 struct column_dispenser *disp;
1147 if (strcmp_P(res->arg1, PSTR("static")) == 0) {
1148 err = strat_static_columns(res->arg2);
1150 else if (strcmp_P(res->arg1, PSTR("static2")) == 0) {
1151 strat_infos.s_cols.configuration = res->arg2;
1152 switch (res->arg2) {
1154 position_set(&mainboard.pos, 1398,
1155 COLOR_Y(1297), COLOR_A(-66));
1158 position_set(&mainboard.pos, 1232,
1159 COLOR_Y(1051), COLOR_A(4));
1162 position_set(&mainboard.pos, 1232,
1163 COLOR_Y(1043), COLOR_A(5));
1166 position_set(&mainboard.pos, 1346,
1167 COLOR_Y(852), COLOR_A(57));
1172 if (res->arg2 == 1 && res->arg3 == 1) {
1173 strat_infos.s_cols.flags = STATIC_COL_LINE1_DONE;
1175 if (res->arg2 == 1 && res->arg3 == 2) {
1176 strat_infos.s_cols.flags = STATIC_COL_LINE2_DONE;
1178 err = strat_static_columns_pass2();
1180 else if (strcmp_P(res->arg1, PSTR("lintel1")) == 0) {
1181 err = strat_goto_lintel_disp(&strat_infos.l1);
1183 else if (strcmp_P(res->arg1, PSTR("lintel2")) == 0) {
1184 err = strat_goto_lintel_disp(&strat_infos.l2);
1186 else if (strcmp_P(res->arg1, PSTR("coldisp1")) == 0) {
1187 disp = &strat_infos.c1;
1188 err = strat_goto_col_disp(&disp);
1190 else if (strcmp_P(res->arg1, PSTR("coldisp2")) == 0) {
1191 disp = &strat_infos.c2;
1192 err = strat_goto_col_disp(&disp);
1194 else if (strcmp_P(res->arg1, PSTR("coldisp3")) == 0) {
1195 disp = &strat_infos.c3;
1196 err = strat_goto_col_disp(&disp);
1198 else if (strcmp_P(res->arg1, PSTR("disc")) == 0) {
1199 if (res->arg2 == 0) {
1200 printf_P(PSTR("bad level\r\n"));
1203 err = strat_goto_disc(res->arg2);
1206 printf_P(PSTR("substrat returned %s\r\n"), get_err(err));
1207 trajectory_hardstop(&mainboard.traj);
1210 prog_char str_subtraj_arg0[] = "subtraj";
1211 parse_pgm_token_string_t cmd_subtraj_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg0, str_subtraj_arg0);
1212 prog_char str_subtraj_arg1[] = "static#disc#lintel1#lintel2#coldisp1#coldisp2#coldisp3#static2";
1213 parse_pgm_token_string_t cmd_subtraj_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_subtraj_result, arg1, str_subtraj_arg1);
1214 parse_pgm_token_num_t cmd_subtraj_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg2, INT32);
1215 parse_pgm_token_num_t cmd_subtraj_arg3 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg3, INT32);
1216 parse_pgm_token_num_t cmd_subtraj_arg4 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg4, INT32);
1217 parse_pgm_token_num_t cmd_subtraj_arg5 = TOKEN_NUM_INITIALIZER(struct cmd_subtraj_result, arg5, INT32);
1219 prog_char help_subtraj[] = "Test sub-trajectories (a,b,c,d: specific params)";
1220 parse_pgm_inst_t cmd_subtraj = {
1221 .f = cmd_subtraj_parsed, /* function to call */
1222 .data = NULL, /* 2nd arg of func */
1223 .help_str = help_subtraj,
1224 .tokens = { /* token list, NULL terminated */
1225 (prog_void *)&cmd_subtraj_arg0,
1226 (prog_void *)&cmd_subtraj_arg1,
1227 (prog_void *)&cmd_subtraj_arg2,
1228 (prog_void *)&cmd_subtraj_arg3,
1229 (prog_void *)&cmd_subtraj_arg4,
1230 (prog_void *)&cmd_subtraj_arg5,