tmp = ans->rcob;
if (tmp != I2C_COB_NONE)
ballboard.rcob = tmp;
+ ballboard.opponent_x = ans->opponent_x;
+ ballboard.opponent_y = ans->opponent_y;
+ ballboard.opponent_a = ans->opponent_a;
+ ballboard.opponent_d = ans->opponent_d;
break;
}
struct i2c_req_ballboard_status buf;
buf.hdr.cmd = I2C_REQ_BALLBOARD_STATUS;
+ /* robot position */
+ buf.x = position_get_x_s16(&mainboard.pos);
+ buf.y = position_get_y_s16(&mainboard.pos);
+ buf.a = position_get_a_deg_s16(&mainboard.pos);
return i2c_send(I2C_BALLBOARD_ADDR, (uint8_t*)&buf,
sizeof(buf), I2C_CTRL_GENERIC);
}
int8_t i2c_cobboard_set_mode(uint8_t mode)
{
#ifdef HOST_VERSION
- return robotsim_i2c_cobboard_set_mode(mode);
-#else
+ cobboard.mode = mode;
+#endif
struct i2c_cmd_cobboard_set_mode buf;
buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
buf.mode = mode;
return i2c_send_command(I2C_COBBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
-#endif
}
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;
return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
}
+int8_t i2c_ballboard_set_beacon(uint8_t enable)
+{
+ struct i2c_cmd_ballboard_start_beacon buf;
+ buf.hdr.cmd = I2C_CMD_BALLBOARD_SET_BEACON;
+ buf.enable = enable;
+ return i2c_send_command(I2C_BALLBOARD_ADDR, (uint8_t*)&buf, sizeof(buf));
+}
+