#include "strat_corn.h"
#include "i2c_protocol.h"
#include "actuator.h"
+#include "beacon.h"
struct cmd_event_result {
fixed_string_t arg0;
},
};
+/**********************************************************/
+/* Beacon tests */
+
+/* this structure is filled when cmd_beacon is parsed successfully */
+struct cmd_beacon_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+};
+
+/* function called when cmd_beacon is parsed successfully */
+static void cmd_beacon_parsed(void *parsed_result, void *data)
+{
+ double x, y, a;
+
+ if (beacon_get_pos_double(&x, &y, &a) < 0)
+ printf_P(PSTR("No position from beacon\r\n"));
+ else
+ printf_P(PSTR("x=%2.2f y=%2.2f a=%2.2f\r\n"), x, y, DEG(a));
+}
+
+prog_char str_beacon_arg0[] = "beacon";
+parse_pgm_token_string_t cmd_beacon_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_result, arg0, str_beacon_arg0);
+prog_char str_beacon_arg1[] = "show";
+parse_pgm_token_string_t cmd_beacon_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_result, arg1, str_beacon_arg1);
+
+prog_char help_beacon[] = "Show (x,y) beacon";
+parse_pgm_inst_t cmd_beacon = {
+ .f = cmd_beacon_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_beacon,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_beacon_arg0,
+ (prog_void *)&cmd_beacon_arg1,
+ NULL,
+ },
+};
/**********************************************************/
/* Start */
mainboard.our_color = I2C_COLOR_YELLOW;
i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+ beacon_set_color(I2C_COLOR_YELLOW);
}
else if (!strcmp_P(res->color, PSTR("blue"))) {
mainboard.our_color = I2C_COLOR_BLUE;
i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+ beacon_set_color(I2C_COLOR_BLUE);
}
strat_start();
}
else {
#ifdef HOST_VERSION
-#define PWM_INTERACT 300
+#define PWM_INTERACT 1200
#else
#define PWM_INTERACT 1200
#endif
mainboard.our_color = I2C_COLOR_YELLOW;
i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
+ beacon_set_color(I2C_COLOR_YELLOW);
}
else if (!strcmp_P(res->color, PSTR("blue"))) {
mainboard.our_color = I2C_COLOR_BLUE;
i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
+ beacon_set_color(I2C_COLOR_BLUE);
}
printf_P(PSTR("Done\r\n"));
#endif
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
else if (!strcmp_P(res->arg1, PSTR("eject")))
i2c_cobboard_set_mode(I2C_COBBOARD_MODE_EJECT);
- else if (!strcmp_P(res->arg1, PSTR("kickstand")))
- i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND);
+ else if (!strcmp_P(res->arg1, PSTR("kickstand_up")))
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_UP);
+ else if (!strcmp_P(res->arg1, PSTR("kickstand_down")))
+ i2c_cobboard_set_mode(I2C_COBBOARD_MODE_KICKSTAND_DOWN);
}
prog_char str_cobboard_setmode1_arg0[] = "cobboard";
parse_pgm_token_string_t cmd_cobboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg0, str_cobboard_setmode1_arg0);
-prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand";
+prog_char str_cobboard_setmode1_arg1[] = "init#eject#kickstand_up#kickstand_down";
parse_pgm_token_string_t cmd_cobboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_cobboard_setmode1_result, arg1, str_cobboard_setmode1_arg1);
prog_char help_cobboard_setmode1[] = "set cobboard mode (mode)";
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_EJECT);
else if (!strcmp_P(res->arg1, PSTR("harvest")))
i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_HARVEST);
+ else if (!strcmp_P(res->arg1, PSTR("prepare")))
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_PREP_FORK);
+ else if (!strcmp_P(res->arg1, PSTR("take")))
+ i2c_ballboard_set_mode(I2C_BALLBOARD_MODE_TAKE_FORK);
/* other commands */
}
prog_char str_ballboard_setmode1_arg0[] = "ballboard";
parse_pgm_token_string_t cmd_ballboard_setmode1_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg0, str_ballboard_setmode1_arg0);
-prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off";
+prog_char str_ballboard_setmode1_arg1[] = "init#eject#harvest#off#take#prepare";
parse_pgm_token_string_t cmd_ballboard_setmode1_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode1_result, arg1, str_ballboard_setmode1_arg1);
prog_char help_ballboard_setmode1[] = "set ballboard mode (mode)";
/* function called when cmd_ballboard_setmode2 is parsed successfully */
static void cmd_ballboard_setmode2_parsed(void * parsed_result, void * data)
{
- struct cmd_ballboard_setmode2_result *res = parsed_result;
- uint8_t mode = I2C_BALLBOARD_MODE_INIT;
-
- 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;
- }
- i2c_ballboard_set_mode(mode);
}
prog_char str_ballboard_setmode2_arg0[] = "ballboard";
parse_pgm_token_string_t cmd_ballboard_setmode2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg0, str_ballboard_setmode2_arg0);
-prog_char str_ballboard_setmode2_arg1[] = "prepare#take";
+prog_char str_ballboard_setmode2_arg1[] = "xxx";
parse_pgm_token_string_t cmd_ballboard_setmode2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg1, str_ballboard_setmode2_arg1);
prog_char str_ballboard_setmode2_arg2[] = "left#right";
parse_pgm_token_string_t cmd_ballboard_setmode2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_ballboard_setmode2_result, arg2, str_ballboard_setmode2_arg2);