/* status */
cobboard.mode = ans->mode;
cobboard.status = ans->status;
+ cobboard.cob_count = ans->cob_count;
cobboard.left_cobroller_speed = ans->left_cobroller_speed;
cs_set_consign(&mainboard.left_cobroller.cs, cobboard.left_cobroller_speed);
cobboard.right_cobroller_speed = ans->right_cobroller_speed;
}
case I2C_ANS_BALLBOARD_STATUS: {
+ uint8_t tmp;
struct i2c_ans_ballboard_status * ans =
(struct i2c_ans_ballboard_status *)buf;
ballboard.mode = ans->mode;
ballboard.status = ans->status;
ballboard.ball_count = ans->ball_count;
+ tmp = ans->lcob;
+ if (tmp != I2C_COB_NONE)
+ ballboard.lcob = tmp;
+ tmp = ans->rcob;
+ if (tmp != I2C_COB_NONE)
+ ballboard.rcob = tmp;
break;
}
int8_t err;
buf.hdr.cmd = I2C_REQ_COBBOARD_STATUS;
+ buf.lspickle = cobboard.lspickle;
+ buf.rspickle = cobboard.rspickle;
err = i2c_send(I2C_COBBOARD_ADDR, (uint8_t*)&buf,
sizeof(buf), I2C_CTRL_GENERIC);
return i2c_send_command(addr, (uint8_t*)&buf, sizeof(buf));
}
-int8_t i2c_cobboard_mode_eject(void)
+int8_t i2c_cobboard_set_mode(uint8_t mode)
{
+#ifdef HOST_VERSION
+ cobboard.mode = mode;
+ return 0;
+#else
struct i2c_cmd_cobboard_set_mode buf;
buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- buf.mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
+ buf.mode = mode;
return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+#endif
}
-int8_t i2c_cobboard_mode_harvest(uint8_t side)
+static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
{
- struct i2c_cmd_cobboard_set_mode buf;
- uint8_t mode = cobboard.mode;
+#ifdef HOST_VERSION
+ return robotsim_i2c_cobboard_set_spickles(side, flags);
+#else
+ if (side == I2C_LEFT_SIDE)
+ cobboard.lspickle = flags;
+ else
+ cobboard.rspickle = flags;
+ return 0;
+#endif
+}
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- if (side == I2C_LEFT_SIDE) {
- mode |= I2C_COBBOARD_MODE_L_DEPLOY;
- mode |= I2C_COBBOARD_MODE_L_HARVEST;
- }
- else {
- mode |= I2C_COBBOARD_MODE_R_DEPLOY;
- mode |= I2C_COBBOARD_MODE_R_HARVEST;
- }
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+int8_t i2c_cobboard_pack(uint8_t side)
+{
+ return i2c_cobboard_set_spickle(side, 0);
}
-int8_t i2c_cobboard_mode_deploy(uint8_t side)
+int8_t i2c_cobboard_pack_weak(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
- uint8_t mode = cobboard.mode;
+ return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_WEAK);
+}
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- if (side == I2C_LEFT_SIDE) {
- mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
- mode |= I2C_COBBOARD_MODE_L_DEPLOY;
- }
- else {
- mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
- mode |= I2C_COBBOARD_MODE_R_DEPLOY;
- }
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+int8_t i2c_cobboard_autoharvest(uint8_t side)
+{
+ return i2c_cobboard_set_spickle(side,
+ I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_AUTOHARVEST);
}
-int8_t i2c_cobboard_mode_pack(uint8_t side)
+int8_t i2c_cobboard_deploy(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
- uint8_t mode = cobboard.mode;
+ return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
+}
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- if (side == I2C_LEFT_SIDE)
- mode &= ~(I2C_COBBOARD_MODE_L_DEPLOY | I2C_COBBOARD_MODE_L_HARVEST);
- else
- mode &= ~(I2C_COBBOARD_MODE_R_DEPLOY | I2C_COBBOARD_MODE_R_HARVEST);
- buf.mode = mode;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+int8_t i2c_cobboard_autoharvest_nomove(uint8_t side)
+{
+ return i2c_cobboard_set_spickle(side,
+ I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_AUTOHARVEST |
+ I2C_COBBOARD_SPK_NO_MOVE);
}
-int8_t i2c_cobboard_mode_init(void)
+int8_t i2c_cobboard_deploy_nomove(uint8_t side)
{
- struct i2c_cmd_cobboard_set_mode buf;
- buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
- buf.mode = I2C_COBBOARD_MODE_INIT;
- return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+ return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_NO_MOVE);
}
int8_t i2c_ballboard_set_mode(uint8_t mode)