int8_t i2c_cobboard_set_mode(uint8_t mode)
{
#ifdef HOST_VERSION
- return robotsim_i2c_cobboard_set_mode(mode);
+ cobboard.mode = mode;
+ return 0;
#else
struct i2c_cmd_cobboard_set_mode buf;
buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
{
+#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
}
int8_t i2c_cobboard_pack(uint8_t side)
return i2c_cobboard_set_spickle(side, 0);
}
+int8_t i2c_cobboard_pack_weak(uint8_t side)
+{
+ return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_WEAK);
+}
+
int8_t i2c_cobboard_autoharvest(uint8_t side)
{
return i2c_cobboard_set_spickle(side,
return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
}
+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_deploy_nomove(uint8_t side)
+{
+ return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_NO_MOVE);
+}
+
int8_t i2c_ballboard_set_mode(uint8_t mode)
{
struct i2c_cmd_ballboard_set_mode buf;