From: zer0 <zer0@carbon.local>
Date: Fri, 30 Apr 2010 21:47:34 +0000 (+0200)
Subject: add climb fct
X-Git-Url: http://git.droids-corp.org/?a=commitdiff_plain;h=0abf8acb258a098ee79cbbdb71f284693489d678;p=aversive.git

add climb fct
---

diff --git a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
index c71def0..8ea3bd8 100644
--- a/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
+++ b/modules/devices/robot/trajectory_manager/trajectory_manager_core.c
@@ -191,8 +191,6 @@ void trajectory_stop(struct trajectory *traj)
 				  UPDATE_A | UPDATE_D | RESET_D | RESET_A);
 }
 
-//#include <stackdump.h>
-
 /** set relative angle and distance consign to 0, and break any
  * deceleration ramp in quadramp filter */
 void trajectory_hardstop(struct trajectory *traj)
diff --git a/projects/microb2010/mainboard/commands.c b/projects/microb2010/mainboard/commands.c
index e79562b..7eda8fd 100644
--- a/projects/microb2010/mainboard/commands.c
+++ b/projects/microb2010/mainboard/commands.c
@@ -84,6 +84,7 @@ 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;
 
 /* commands_traj.c */
 extern parse_pgm_inst_t cmd_traj_speed;
@@ -176,6 +177,7 @@ parse_pgm_ctx_t main_ctx[] = {
 	(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,
 
 	/* commands_traj.c */
 	(parse_pgm_inst_t *)&cmd_traj_speed,
diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 13a327a..fc51e8e 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -1252,3 +1252,75 @@ parse_pgm_inst_t cmd_test = {
 		NULL,
 	},
 };
+
+
+
+
+/**********************************************************/
+/* Climb */
+
+/* this structure is filled when cmd_climb is parsed successfully */
+struct cmd_climb_result {
+	fixed_string_t arg0;
+	int32_t radius;
+	int32_t dist;
+};
+
+
+//#define DIM_BALLS_DOWN 620
+//#define DIM_BALLS_UP 700
+
+#define DIM_BALLS_DOWN 530
+#define DIM_BALLS_UP 700
+
+/* function called when cmd_climb is parsed successfully */
+static void cmd_climb_parsed(void *parsed_result, void *data)
+{
+	uint8_t err;
+
+	printf_P(PSTR("starting Clifenger\r\n"));
+	strat_set_speed(SPEED_DIST_SLOW, SPEED_ANGLE_SLOW );
+
+	trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+	trajectory_a_abs(&mainboard.traj, 0);
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+
+
+	trajectory_goto_xy_abs(&mainboard.traj, 1250, 250);
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_DOWN, 0xFF);
+	printf_P(PSTR("ball_pack\r\n"));
+	support_balls_pack();
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)>DIM_BALLS_UP, 0xFF);
+	printf_P(PSTR("ball_deploy\r\n"));
+	support_balls_deploy();
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+
+	/* reach top, go down */
+	trajectory_goto_xy_abs(&mainboard.traj, 250, 250);
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_UP, 0xFF);
+	printf_P(PSTR("ball_pack\r\n"));
+	support_balls_pack();
+	err = WAIT_COND_OR_TRAJ_END(position_get_x_s16(&mainboard.pos)<DIM_BALLS_DOWN, 0xFF);
+	printf_P(PSTR("ball_deploy\r\n"));
+	support_balls_deploy();
+
+	err = wait_traj_end(TRAJ_FLAGS_SMALL_DIST);
+}
+
+prog_char str_climb_arg0[] = "climb";
+parse_pgm_token_string_t cmd_climb_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_climb_result, arg0, str_climb_arg0);
+parse_pgm_token_num_t cmd_climb_arg1 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, radius, INT32);
+parse_pgm_token_num_t cmd_climb_arg2 = TOKEN_NUM_INITIALIZER(struct cmd_climb_result, dist, INT32);
+
+prog_char help_climb[] = "Climb function";
+parse_pgm_inst_t cmd_climb = {
+	.f = cmd_climb_parsed,  /* function to call */
+	.data = NULL,      /* 2nd arg of func */
+	.help_str = help_climb,
+	.tokens = {        /* token list, NULL terminated */
+		(prog_void *)&cmd_climb_arg0,
+		NULL,
+	},
+};