weak current limit on spickles

[aversive.git] / projects / microb2010 / cobboard / commands_cobboard.c

diff --git a/projects/microb2010/cobboard/commands_cobboard.c b/projects/microb2010/cobboard/commands_cobboard.c
index dc1ec35..9cfda19 100644 (file)
--- a/projects/microb2010/cobboard/commands_cobboard.c
+++ b/projects/microb2010/cobboard/commands_cobboard.c
@@ -244,6 +244,10 @@ static void cmd_state2_parsed(void *parsed_result,
                state_set_mode(I2C_COBBOARD_MODE_HARVEST);
                state_set_spickle(side, 0);
        }
+       else if (!strcmp_P(res->arg1, PSTR("weak_pack"))) {
+               state_set_mode(I2C_COBBOARD_MODE_HARVEST);
+               state_set_spickle(side, I2C_COBBOARD_SPK_WEAK);
+       }
        else if (!strcmp_P(res->arg1, PSTR("deploy"))) {
                state_set_mode(I2C_COBBOARD_MODE_HARVEST);
                state_set_spickle(side, I2C_COBBOARD_SPK_DEPLOY);
@@ -268,7 +272,7 @@ static void cmd_state2_parsed(void *parsed_result,
 
 prog_char str_state2_arg0[] = "cobboard";
 parse_pgm_token_string_t cmd_state2_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg0, str_state2_arg0);
-prog_char str_state2_arg1[] = "harvest#deploy#pack#harvest_nomove#deploy_nomove";
+prog_char str_state2_arg1[] = "harvest#deploy#pack#weak_pack#harvest_nomove#deploy_nomove";
 parse_pgm_token_string_t cmd_state2_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg1, str_state2_arg1);
 prog_char str_state2_arg2[] = "left#right";
 parse_pgm_token_string_t cmd_state2_arg2 = TOKEN_STRING_INITIALIZER(struct cmd_state2_result, arg2, str_state2_arg2);
@@ -710,8 +714,11 @@ static void cmd_spickle_params2_parsed(void *parsed_result,
 {
        struct cmd_spickle_params2_result * res = parsed_result;
 
-       if (!strcmp_P(res->arg1, PSTR("coef"))) {
-               spickle_set_coefs(res->arg2, res->arg3);
+       if (!strcmp_P(res->arg1, PSTR("wcoef"))) {
+               spickle_set_wcoefs(res->arg2, res->arg3);
+       }
+       else if (!strcmp_P(res->arg1, PSTR("scoef"))) {
+               spickle_set_scoefs(res->arg2, res->arg3);
        }
 
        /* else show */
@@ -721,7 +728,7 @@ static void cmd_spickle_params2_parsed(void *parsed_result,
 prog_char str_spickle_params2_arg0[] = "spickle_params2";
 parse_pgm_token_string_t cmd_spickle_params2_arg0 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg0, str_spickle_params2_arg0);
-prog_char str_spickle_params2_arg1[] = "coef";
+prog_char str_spickle_params2_arg1[] = "wcoef#scoef";
 parse_pgm_token_string_t cmd_spickle_params2_arg1 =
        TOKEN_STRING_INITIALIZER(struct cmd_spickle_params2_result, arg1, str_spickle_params2_arg1);
 parse_pgm_token_num_t cmd_spickle_params2_arg2 =