+/**********************************************************/
+/* Traj_Accs for trajectory_manager */
+
+/* this structure is filled when cmd_traj_acc is parsed successfully */
+struct cmd_traj_acc_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float s;
+};
+
+/* function called when cmd_traj_acc is parsed successfully */
+static void cmd_traj_acc_parsed(void *parsed_result, void *data)
+{
+ struct cmd_traj_acc_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("angle"))) {
+ trajectory_set_acc(&mainboard.traj, mainboard.traj.d_acc, res->s);
+ }
+ else if (!strcmp_P(res->arg1, PSTR("distance"))) {
+ trajectory_set_acc(&mainboard.traj, res->s, mainboard.traj.a_acc);
+ }
+ /* else it is a "show" */
+
+ printf_P(PSTR("angle %2.2f, distance %2.2f\r\n"),
+ mainboard.traj.a_acc,
+ mainboard.traj.d_acc);
+}
+
+prog_char str_traj_acc_arg0[] = "traj_acc";
+parse_pgm_token_string_t cmd_traj_acc_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg0, str_traj_acc_arg0);
+prog_char str_traj_acc_arg1[] = "angle#distance";
+parse_pgm_token_string_t cmd_traj_acc_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg1, str_traj_acc_arg1);
+parse_pgm_token_num_t cmd_traj_acc_s = TOKEN_NUM_INITIALIZER(struct cmd_traj_acc_result, s, FLOAT);
+
+prog_char help_traj_acc[] = "Set traj_acc values for trajectory manager";
+parse_pgm_inst_t cmd_traj_acc = {
+ .f = cmd_traj_acc_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_traj_acc,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_traj_acc_arg0,
+ (prog_void *)&cmd_traj_acc_arg1,
+ (prog_void *)&cmd_traj_acc_s,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_traj_acc_show_arg[] = "show";
+parse_pgm_token_string_t cmd_traj_acc_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_traj_acc_result, arg1, str_traj_acc_show_arg);
+
+prog_char help_traj_acc_show[] = "Show traj_acc values for trajectory manager";
+parse_pgm_inst_t cmd_traj_acc_show = {
+ .f = cmd_traj_acc_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_traj_acc_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_traj_acc_arg0,
+ (prog_void *)&cmd_traj_acc_show_arg,
+ NULL,
+ },
+};
+
+/**********************************************************/
+/* circle coef configuration */
+
+/* this structure is filled when cmd_circle_coef is parsed successfully */
+struct cmd_circle_coef_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float circle_coef;
+};
+
+
+/* function called when cmd_circle_coef is parsed successfully */
+static void cmd_circle_coef_parsed(void *parsed_result, void *data)
+{
+ struct cmd_circle_coef_result *res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("set"))) {
+ trajectory_set_circle_coef(&mainboard.traj, res->circle_coef);
+ }
+
+ printf_P(PSTR("circle_coef set %2.2f\r\n"), mainboard.traj.circle_coef);
+}
+
+prog_char str_circle_coef_arg0[] = "circle_coef";
+parse_pgm_token_string_t cmd_circle_coef_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg0, str_circle_coef_arg0);
+prog_char str_circle_coef_arg1[] = "set";
+parse_pgm_token_string_t cmd_circle_coef_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_arg1);
+parse_pgm_token_num_t cmd_circle_coef_val = TOKEN_NUM_INITIALIZER(struct cmd_circle_coef_result, circle_coef, FLOAT);
+
+prog_char help_circle_coef[] = "Set circle coef";
+parse_pgm_inst_t cmd_circle_coef = {
+ .f = cmd_circle_coef_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_circle_coef,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_circle_coef_arg0,
+ (prog_void *)&cmd_circle_coef_arg1,
+ (prog_void *)&cmd_circle_coef_val,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_circle_coef_show_arg[] = "show";
+parse_pgm_token_string_t cmd_circle_coef_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_circle_coef_result, arg1, str_circle_coef_show_arg);
+
+prog_char help_circle_coef_show[] = "Show circle coef";
+parse_pgm_inst_t cmd_circle_coef_show = {
+ .f = cmd_circle_coef_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_circle_coef_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_circle_coef_arg0,
+ (prog_void *)&cmd_circle_coef_show_arg,
+ NULL,
+ },
+};
+