#define I2C_COBBOARD_ADDR 2
#define I2C_BALLBOARD_ADDR 3
-#define I2C_LEFT_SIDE 0
-#define I2C_RIGHT_SIDE 1
-#define I2C_AUTO_SIDE 2
-#define I2C_CENTER_SIDE 3
+#define I2C_LEFT_SIDE 0
+#define I2C_RIGHT_SIDE 1
+#define I2C_AUTO_SIDE 2
+#define I2C_CENTER_SIDE 3
-#define I2C_COLOR_RED 0
-#define I2C_COLOR_GREEN 1
+#define I2C_COLOR_YELLOW 0
+#define I2C_COLOR_BLUE 1
#define I2C_COB_BLACK 0
#define I2C_COB_WHITE 1
#define I2C_COBBOARD_MODE_R_DEPLOY 0x04 /* deploy the spickle */
#define I2C_COBBOARD_MODE_R_HARVEST 0x08 /* auto harvest withe cobs */
#define I2C_COBBOARD_MODE_EJECT 0x10 /* eject cobs */
+#define I2C_COBBOARD_MODE_INIT 0x20 /* init state machine */
+ uint8_t mode;
+};
+
+#define I2C_CMD_BALLBOARD_SET_MODE 0x10
+
+struct i2c_cmd_ballboard_set_mode {
+ struct i2c_cmd_hdr hdr;
+
+#define I2C_BALLBOARD_MODE_OFF 0x00
+#define I2C_BALLBOARD_MODE_HARVEST 0x01
+#define I2C_BALLBOARD_MODE_EJECT 0x02
+#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x03
+#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x04
+#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x05
+#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x06
uint8_t mode;
};