work on trajectory, update cobboard and ballboard too

[aversive.git] / projects / microb2010 / ballboard / commands_cs.c

diff --git a/projects/microb2010/ballboard/commands_cs.c b/projects/microb2010/ballboard/commands_cs.c
index 098ffb3..c1dca26 100644 (file)
--- a/projects/microb2010/ballboard/commands_cs.c
+++ b/projects/microb2010/ballboard/commands_cs.c
@@ -428,17 +428,17 @@ parse_pgm_inst_t cmd_maximum_show = {
 /* this structure is filled when cmd_quadramp is parsed successfully */
 struct cmd_quadramp_result {
        struct cmd_cs_result cs;
-       uint32_t ap;
-       uint32_t an;
-       uint32_t sp;
-       uint32_t sn;
+       double ap;
+       double an;
+       double sp;
+       double sn;
 };
 
 /* function called when cmd_quadramp is parsed successfully */
 static void cmd_quadramp_parsed(void *parsed_result, void *show)
 {
        struct cmd_quadramp_result * res = parsed_result;
-       
+
        struct cs_block *csb;
 
        csb = cs_from_name(res->cs.csname);
@@ -452,7 +452,7 @@ static void cmd_quadramp_parsed(void *parsed_result, void *show)
                quadramp_set_2nd_order_vars(&csb->qr, res->ap, res->an);
        }
 
-       printf_P(PSTR("quadramp %s %ld %ld %ld %ld\r\n"), 
+       printf_P(PSTR("quadramp %s %2.2f %2.2f %2.2f %2.2f\r\n"),
                 res->cs.csname,
                 csb->qr.var_2nd_ord_pos,
                 csb->qr.var_2nd_ord_neg,
@@ -462,10 +462,10 @@ static void cmd_quadramp_parsed(void *parsed_result, void *show)
 
 prog_char str_quadramp_arg0[] = "quadramp";
 parse_pgm_token_string_t cmd_quadramp_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_quadramp_result, cs.cmdname, str_quadramp_arg0);
-parse_pgm_token_num_t cmd_quadramp_ap = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, ap, UINT32);
-parse_pgm_token_num_t cmd_quadramp_an = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, an, UINT32);
-parse_pgm_token_num_t cmd_quadramp_sp = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, sp, UINT32);
-parse_pgm_token_num_t cmd_quadramp_sn = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, sn, UINT32);
+parse_pgm_token_num_t cmd_quadramp_ap = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, ap, FLOAT);
+parse_pgm_token_num_t cmd_quadramp_an = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, an, FLOAT);
+parse_pgm_token_num_t cmd_quadramp_sp = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, sp, FLOAT);
+parse_pgm_token_num_t cmd_quadramp_sn = TOKEN_NUM_INITIALIZER(struct cmd_quadramp_result, sn, FLOAT);
 
 prog_char help_quadramp[] = "Set quadramp values (acc+, acc-, speed+, speed-)";
 parse_pgm_inst_t cmd_quadramp = {
@@ -473,13 +473,13 @@ parse_pgm_inst_t cmd_quadramp = {
        .data = NULL,      /* 2nd arg of func */
        .help_str = help_quadramp,
        .tokens = {        /* token list, NULL terminated */
-               (prog_void *)&cmd_quadramp_arg0, 
-               (prog_void *)&cmd_csb_name_tok, 
-               (prog_void *)&cmd_quadramp_ap, 
-               (prog_void *)&cmd_quadramp_an, 
-               (prog_void *)&cmd_quadramp_sp, 
-               (prog_void *)&cmd_quadramp_sn, 
-               
+               (prog_void *)&cmd_quadramp_arg0,
+               (prog_void *)&cmd_csb_name_tok,
+               (prog_void *)&cmd_quadramp_ap,
+               (prog_void *)&cmd_quadramp_an,
+               (prog_void *)&cmd_quadramp_sp,
+               (prog_void *)&cmd_quadramp_sn,
+
                NULL,
        },
 };