add climb fct

[aversive.git] / projects / microb2010 / mainboard / commands_mainboard.c

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index 13a327a..fc51e8e 100644 (file)
--- 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,
+       },
+};