extern parse_pgm_inst_t cmd_clitoid;
extern parse_pgm_inst_t cmd_time_monitor;
extern parse_pgm_inst_t cmd_strat_event;
-extern parse_pgm_inst_t cmd_test;
extern parse_pgm_inst_t cmd_climb;
+extern parse_pgm_inst_t cmd_sleep;
+extern parse_pgm_inst_t cmd_test;
/* commands_traj.c */
extern parse_pgm_inst_t cmd_traj_speed;
extern parse_pgm_inst_t cmd_rs_gains_show;
extern parse_pgm_inst_t cmd_track;
extern parse_pgm_inst_t cmd_track_show;
+extern parse_pgm_inst_t cmd_centrifugal;
+extern parse_pgm_inst_t cmd_centrifugal_show;
extern parse_pgm_inst_t cmd_pt_list;
extern parse_pgm_inst_t cmd_pt_list_append;
extern parse_pgm_inst_t cmd_pt_list_del;
(parse_pgm_inst_t *)&cmd_clitoid,
(parse_pgm_inst_t *)&cmd_time_monitor,
(parse_pgm_inst_t *)&cmd_strat_event,
- (parse_pgm_inst_t *)&cmd_test,
(parse_pgm_inst_t *)&cmd_climb,
+ (parse_pgm_inst_t *)&cmd_sleep,
+ (parse_pgm_inst_t *)&cmd_test,
/* commands_traj.c */
(parse_pgm_inst_t *)&cmd_traj_speed,
(parse_pgm_inst_t *)&cmd_rs_gains_show,
(parse_pgm_inst_t *)&cmd_track,
(parse_pgm_inst_t *)&cmd_track_show,
+ (parse_pgm_inst_t *)&cmd_centrifugal,
+ (parse_pgm_inst_t *)&cmd_centrifugal_show,
(parse_pgm_inst_t *)&cmd_pt_list,
(parse_pgm_inst_t *)&cmd_pt_list_append,
(parse_pgm_inst_t *)&cmd_pt_list_del,
},
};
+/**********************************************************/
+/* Sleep */
+
+/* this structure is filled when cmd_sleep is parsed successfully */
+struct cmd_sleep_result {
+ fixed_string_t arg0;
+ uint32_t ms;
+};
+
+/* function called when cmd_sleep is parsed successfully */
+static void cmd_sleep_parsed(void *parsed_result, void *data)
+{
+ struct cmd_sleep_result *res = parsed_result;
+ time_wait_ms(res->ms);
+}
+
+prog_char str_sleep_arg0[] = "sleep";
+parse_pgm_token_string_t cmd_sleep_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_sleep_result, arg0, str_sleep_arg0);
+parse_pgm_token_num_t cmd_sleep_ms = TOKEN_NUM_INITIALIZER(struct cmd_sleep_result, ms, UINT32);
+
+prog_char help_sleep[] = "Sleep during some miliseconds";
+parse_pgm_inst_t cmd_sleep = {
+ .f = cmd_sleep_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_sleep,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_sleep_arg0,
+ (prog_void *)&cmd_sleep_ms,
+ NULL,
+ },
+};
+
+
/**********************************************************/
/* Test */
},
};
+/**********************************************************/
+/* centrifugal configuration */
+
+/* this structure is filled when cmd_centrifugal is parsed successfully */
+struct cmd_centrifugal_result {
+ fixed_string_t arg0;
+ fixed_string_t arg1;
+ float val;
+};
+
+/* function called when cmd_centrifugal is parsed successfully */
+static void cmd_centrifugal_parsed(void * parsed_result, void * data)
+{
+ struct cmd_centrifugal_result * res = parsed_result;
+
+ if (!strcmp_P(res->arg1, PSTR("set"))) {
+ position_set_centrifugal_coef(&mainboard.pos, res->val);
+ }
+ printf_P(PSTR("centrifugal set %f\r\n"), mainboard.pos.centrifugal_coef);
+}
+
+prog_char str_centrifugal_arg0[] = "centrifugal";
+parse_pgm_token_string_t cmd_centrifugal_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg0, str_centrifugal_arg0);
+prog_char str_centrifugal_arg1[] = "set";
+parse_pgm_token_string_t cmd_centrifugal_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_arg1);
+parse_pgm_token_num_t cmd_centrifugal_val = TOKEN_NUM_INITIALIZER(struct cmd_centrifugal_result, val, FLOAT);
+
+prog_char help_centrifugal[] = "Set centrifugal coef";
+parse_pgm_inst_t cmd_centrifugal = {
+ .f = cmd_centrifugal_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_centrifugal,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_centrifugal_arg0,
+ (prog_void *)&cmd_centrifugal_arg1,
+ (prog_void *)&cmd_centrifugal_val,
+ NULL,
+ },
+};
+
+/* show */
+
+prog_char str_centrifugal_show_arg[] = "show";
+parse_pgm_token_string_t cmd_centrifugal_show_arg = TOKEN_STRING_INITIALIZER(struct cmd_centrifugal_result, arg1, str_centrifugal_show_arg);
+
+prog_char help_centrifugal_show[] = "Show centrifugal";
+parse_pgm_inst_t cmd_centrifugal_show = {
+ .f = cmd_centrifugal_parsed, /* function to call */
+ .data = NULL, /* 2nd arg of func */
+ .help_str = help_centrifugal_show,
+ .tokens = { /* token list, NULL terminated */
+ (prog_void *)&cmd_centrifugal_arg0,
+ (prog_void *)&cmd_centrifugal_show_arg,
+ NULL,
+ },
+};
+
/**********************************************************/