X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;fp=projects%2Fmicrob2010%2Fmainboard%2Fcommands_mainboard.c;h=187596522c3d92df3c58cc759b5a49b32af630dd;hp=fcc47e6fe2b09e5a34b1cd6a203a69a749084763;hb=ad466314d3aff8f661654d4701b9d12fdeb7811f;hpb=d78a81c0df6dfe318d873a6f877e53cfb957ad8e

diff --git a/projects/microb2010/mainboard/commands_mainboard.c b/projects/microb2010/mainboard/commands_mainboard.c
index fcc47e6..1875965 100644
--- a/projects/microb2010/mainboard/commands_mainboard.c
+++ b/projects/microb2010/mainboard/commands_mainboard.c
@@ -70,7 +70,6 @@
 #include "strat_corn.h"
 #include "i2c_protocol.h"
 #include "actuator.h"
-#include "beacon.h"
 
 struct cmd_event_result {
 	fixed_string_t arg0;
@@ -285,38 +284,38 @@ parse_pgm_inst_t cmd_opponent_set = {
 };
 
 /**********************************************************/
-/* Beacon tests */
+/* Beacon_Start */
 
-/* this structure is filled when cmd_beacon is parsed successfully */
-struct cmd_beacon_result {
+/* this structure is filled when cmd_beacon_start is parsed successfully */
+struct cmd_beacon_start_result {
 	fixed_string_t arg0;
 	fixed_string_t arg1;
 };
 
-/* function called when cmd_beacon is parsed successfully */
-static void cmd_beacon_parsed(void *parsed_result, void *data)
+/* function called when cmd_beacon_start is parsed successfully */
+static void cmd_beacon_start_parsed(void *parsed_result, void *data)
 {
-	double x, y, a;
+	struct cmd_beacon_start_result *res = parsed_result;
 
-	if (beacon_get_pos_double(&x, &y, &a) < 0)
-		printf_P(PSTR("No position from beacon\r\n"));
+	if (!strcmp_P(res->arg1, PSTR("start")))
+		i2c_ballboard_set_beacon(1);
 	else
-		printf_P(PSTR("x=%2.2f y=%2.2f a=%2.2f\r\n"), x, y, DEG(a));
+		i2c_ballboard_set_beacon(0);
 }
 
-prog_char str_beacon_arg0[] = "beacon";
-parse_pgm_token_string_t cmd_beacon_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_result, arg0, str_beacon_arg0);
-prog_char str_beacon_arg1[] = "show";
-parse_pgm_token_string_t cmd_beacon_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_result, arg1, str_beacon_arg1);
+prog_char str_beacon_start_arg0[] = "beacon";
+parse_pgm_token_string_t cmd_beacon_start_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_start_result, arg0, str_beacon_start_arg0);
+prog_char str_beacon_start_arg1[] = "start#stop";
+parse_pgm_token_string_t cmd_beacon_start_arg1 = TOKEN_STRING_INITIALIZER(struct cmd_beacon_start_result, arg1, str_beacon_start_arg1);
 
-prog_char help_beacon[] = "Show (x,y) beacon";
-parse_pgm_inst_t cmd_beacon = {
-	.f = cmd_beacon_parsed,  /* function to call */
+prog_char help_beacon_start[] = "Beacon enabled/disable";
+parse_pgm_inst_t cmd_beacon_start = {
+	.f = cmd_beacon_start_parsed,  /* function to call */
 	.data = NULL,      /* 2nd arg of func */
-	.help_str = help_beacon,
+	.help_str = help_beacon_start,
 	.tokens = {        /* token list, NULL terminated */
-		(prog_void *)&cmd_beacon_arg0,
-		(prog_void *)&cmd_beacon_arg1,
+		(prog_void *)&cmd_beacon_start_arg0, 
+		(prog_void *)&cmd_beacon_start_arg1, 
 		NULL,
 	},
 };
@@ -351,15 +350,18 @@ static void cmd_start_parsed(void *parsed_result, void *data)
 		mainboard.our_color = I2C_COLOR_YELLOW;
 		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
 		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
-		beacon_set_color(I2C_COLOR_YELLOW);
 	}
 	else if (!strcmp_P(res->color, PSTR("blue"))) {
 		mainboard.our_color = I2C_COLOR_BLUE;
 		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
 		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
-		beacon_set_color(I2C_COLOR_BLUE);
 	}
 
+	printf_P(PSTR("Press a key when beacon ready\r\n"));
+	i2c_ballboard_set_beacon(0);
+	while(!cmdline_keypressed());
+	i2c_ballboard_set_beacon(1);
+
 	strat_start();
 
 	gen.logs[NB_LOGS] = 0;
@@ -613,13 +615,11 @@ static void cmd_color_parsed(void *parsed_result, void *data)
 		mainboard.our_color = I2C_COLOR_YELLOW;
 		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_YELLOW);
 		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_YELLOW);
-		beacon_set_color(I2C_COLOR_YELLOW);
 	}
 	else if (!strcmp_P(res->color, PSTR("blue"))) {
 		mainboard.our_color = I2C_COLOR_BLUE;
 		i2c_set_color(I2C_COBBOARD_ADDR, I2C_COLOR_BLUE);
 		i2c_set_color(I2C_BALLBOARD_ADDR, I2C_COLOR_BLUE);
-		beacon_set_color(I2C_COLOR_BLUE);
 	}
 	printf_P(PSTR("Done\r\n"));
 #endif