#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
struct i2c_cmd_hdr {
uint8_t cmd;
struct i2c_cmd_led_control {
struct i2c_cmd_hdr hdr;
uint8_t led_num:7;
- uint8_t state:1;
+ uint8_t state:1;
};
/****/
struct i2c_cmd_cobboard_set_mode {
struct i2c_cmd_hdr hdr;
-#define I2C_COBBOARD_MODE_INIT 0x00
-#define I2C_COBBOARD_MODE_MANUAL 0x01
-#define I2C_COBBOARD_MODE_HARVEST 0x02
-#define I2C_COBBOARD_MODE_EXIT 0xFF
+
+#define I2C_COBBOARD_MODE_L_DEPLOY 0x01 /* deploy the spickle */
+#define I2C_COBBOARD_MODE_L_HARVEST 0x02 /* auto harvest withe cobs */
+#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;
- union {
- struct {
- } manual;
+};
- struct {
- } harvest;
- };
+#define I2C_CMD_BALLBOARD_SET_MODE 0x10
+
+struct i2c_cmd_ballboard_set_mode {
+ struct i2c_cmd_hdr hdr;
+
+#define I2C_BALLBOARD_MODE_INIT 0x00
+#define I2C_BALLBOARD_MODE_OFF 0x01
+#define I2C_BALLBOARD_MODE_HARVEST 0x02
+#define I2C_BALLBOARD_MODE_EJECT 0x03
+#define I2C_BALLBOARD_MODE_PREP_L_FORK 0x04
+#define I2C_BALLBOARD_MODE_TAKE_L_FORK 0x05
+#define I2C_BALLBOARD_MODE_PREP_R_FORK 0x06
+#define I2C_BALLBOARD_MODE_TAKE_R_FORK 0x07
+ uint8_t mode;
};
/****/
/* mode type are defined above: I2C_COBBOARD_MODE_xxx */
uint8_t mode;
-#define I2C_COBBOARD_STATUS_F_READY 0x00
-#define I2C_COBBOARD_STATUS_F_BUSY 0x01
-#define I2C_COBBOARD_STATUS_F_EXCPT 0x02
+#define I2C_COBBOARD_STATUS_READY 0x00
+#define I2C_COBBOARD_STATUS_LBUSY 0x01
+#define I2C_COBBOARD_STATUS_RBUSY 0x02
+#define I2C_COBBOARD_STATUS_EJECT 0x03
uint8_t status;
uint8_t cob_count;
+
+ int16_t left_cobroller_speed;
+ int16_t right_cobroller_speed;
};
#define I2C_REQ_BALLBOARD_STATUS 0x82
struct i2c_ans_ballboard_status {
struct i2c_cmd_hdr hdr;
+ uint8_t mode;
#define I2C_BALLBOARD_STATUS_F_READY 0x00
#define I2C_BALLBOARD_STATUS_F_BUSY 0x01