/*
- * Copyright Droids Corporation (2007)
- *
+ * Copyright Droids Corporation (2010)
+ *
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
#include "../common/i2c_commands.h"
#include "main.h"
#include "state.h"
+#include "sensor.h"
+#include "beacon.h"
#include "actuator.h"
void i2c_protocol_init(void)
struct i2c_ans_ballboard_status ans;
i2c_flush();
ans.hdr.cmd = I2C_ANS_BALLBOARD_STATUS;
- ans.status = 0x55; /* XXX */
+ ans.status = state_get_status();
ans.ball_count = state_get_ball_count();
+ ans.lcob = cob_detect_left();
+ ans.rcob = cob_detect_right();
+ ans.opponent_x = beacon.opponent_x;
+ ans.opponent_y = beacon.opponent_y;
+ ans.opponent_a = beacon.opponent_angle;
+ ans.opponent_d = beacon.opponent_dist;
i2c_send(I2C_ADD_MASTER, (uint8_t *) &ans,
sizeof(ans), I2C_CTRL_GENERIC);
break;
}
+ case I2C_CMD_BALLBOARD_SET_BEACON:
+ {
+ struct i2c_cmd_ballboard_start_beacon *cmd = void_cmd;
+ if (size != sizeof (*cmd))
+ goto error;
+
+ if (cmd->enable)
+ beacon_start();
+ else
+ beacon_stop();
+ break;
+ }
+
case I2C_CMD_BALLBOARD_SET_MODE:
{
struct i2c_cmd_ballboard_set_mode *cmd = void_cmd;
if (size != sizeof (*cmd))
goto error;
+ beacon.robot_x = cmd->x;
+ beacon.robot_y = cmd->y;
+ beacon.robot_angle = cmd->a;
+
i2c_send_status();
break;
}