goto error;
/* status */
- //cobboard.mode = ans->mode;
+ 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;
int8_t err;
buf.hdr.cmd = I2C_REQ_COBBOARD_STATUS;
- buf.mode = cobboard.mode;
+ 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));
}
-static int8_t i2c_cobboard_set_mode(uint8_t mode)
+int8_t i2c_cobboard_set_mode(uint8_t mode)
{
#ifdef HOST_VERSION
return robotsim_i2c_cobboard_set_mode(mode);
#else
- cobboard.mode = mode;
- return 0;
-#endif
-
-#if 0 /* old */
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_eject(void)
+static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
{
- /* XXXXXXXXX bad bad bad */
- uint8_t mode = cobboard.mode | I2C_COBBOARD_MODE_EJECT;
- i2c_cobboard_set_mode(mode);
- time_wait_ms(500);
- mode = cobboard.mode & (~I2C_COBBOARD_MODE_EJECT);
- i2c_cobboard_set_mode(mode);
+ if (side == I2C_LEFT_SIDE)
+ cobboard.lspickle = flags;
+ else
+ cobboard.rspickle = flags;
return 0;
}
-int8_t i2c_cobboard_mode_harvest(uint8_t side)
-{
- uint8_t mode = cobboard.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;
- }
- return i2c_cobboard_set_mode(mode);
-}
-
-int8_t i2c_cobboard_mode_deploy(uint8_t side)
+int8_t i2c_cobboard_pack(uint8_t side)
{
- uint8_t mode = cobboard.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;
- }
- return i2c_cobboard_set_mode(mode);
+ return i2c_cobboard_set_spickle(side, 0);
}
-int8_t i2c_cobboard_mode_pack(uint8_t side)
+int8_t i2c_cobboard_harvest(uint8_t side)
{
- uint8_t mode = cobboard.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);
- return i2c_cobboard_set_mode(mode);
+ return i2c_cobboard_set_spickle(side,
+ I2C_COBBOARD_SPK_DEPLOY |
+ I2C_COBBOARD_SPK_AUTOHARVEST);
}
-int8_t i2c_cobboard_mode_init(void)
+int8_t i2c_cobboard_deploy(uint8_t side)
{
- return i2c_cobboard_set_mode(I2C_COBBOARD_MODE_INIT);
+ return i2c_cobboard_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
}
int8_t i2c_ballboard_set_mode(uint8_t mode)