pwm_ng_set(ROLLER_PWM, 0);
pwm_ng_set(FORKTRANS_PWM, 0);
pwm_ng_set(FORKROT_PWM, 0);
+ pwm_ng_set(BEACON_PWM, 0);
}
ballboard.flags &= (~bit);
}
state_set_mode(I2C_BALLBOARD_MODE_EJECT);
else if (!strcmp_P(res->arg1, PSTR("harvest")))
state_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+ else if (!strcmp_P(res->arg1, PSTR("prepare")))
+ state_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+ else if (!strcmp_P(res->arg1, PSTR("take")))
+ state_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
/* other commands */
}
prog_char str_state1_arg0[] = "ballboard";
parse_pgm_token_string_t cmd_state1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg0, str_state1_arg0);
-prog_char str_state1_arg1[] = "init#eject#harvest#off";
+prog_char str_state1_arg1[] = "init#eject#harvest#off#prepare#take";
parse_pgm_token_string_t cmd_state1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state1_result, arg1, str_state1_arg1);
prog_char help_state1[] = "set ballboard mode";
static void cmd_state2_parsed(void *parsed_result,
__attribute__((unused)) void *data)
{
- struct cmd_state2_result *res = parsed_result;
- uint8_t mode;
-
- if (!strcmp_P(res->arg2, PSTR("left"))) {
- if (!strcmp_P(res->arg1, PSTR("prepare")))
- mode = I2C_BALLBOARD_MODE_PREP_L_FORK;
- else if (!strcmp_P(res->arg1, PSTR("take")))
- mode = I2C_BALLBOARD_MODE_TAKE_L_FORK;
- }
- else {
- if (!strcmp_P(res->arg1, PSTR("prepare")))
- mode = I2C_BALLBOARD_MODE_PREP_R_FORK;
- else if (!strcmp_P(res->arg1, PSTR("take")))
- mode = I2C_BALLBOARD_MODE_TAKE_R_FORK;
- }
- //state_set_mode(mode);
}
prog_char str_state2_arg0[] = "ballboard";
parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
-prog_char str_state2_arg1[] = "prepare#take";
+prog_char str_state2_arg1[] = "xxx";
parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
prog_char str_state2_arg2[] = "left#right";
parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);
fork_deploy();
else if (!strcmp_P(res->arg1, PSTR("pack")))
fork_pack();
- else if (!strcmp_P(res->arg1, PSTR("left")))
- fork_left();
- else if (!strcmp_P(res->arg1, PSTR("right")))
- fork_right();
else if (!strcmp_P(res->arg1, PSTR("middle")))
- fork_middle();
+ fork_mid();
}
prog_char str_fork_arg0[] = "fork";
parse_pgm_token_string_t cmd_fork_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg0, str_fork_arg0);
-prog_char str_fork_arg1[] = "deploy#pack#left#right#middle";
+prog_char str_fork_arg1[] = "deploy#pack#middle";
parse_pgm_token_string_t cmd_fork_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_fork_result, arg1, str_fork_arg1);
prog_char help_fork[] = "move fork";