From a3fdbecac564a600c65568cac0e02fc72604567e Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 12 May 2011 23:42:26 +0200 Subject: digital/{ai,io-hub}, host/simu/robots/robospierre: add doors and element move --- digital/io-hub/src/robospierre/main.c | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) (limited to 'digital/io-hub/src/robospierre/main.c') diff --git a/digital/io-hub/src/robospierre/main.c b/digital/io-hub/src/robospierre/main.c index 3a32a1ae..13bad26c 100644 --- a/digital/io-hub/src/robospierre/main.c +++ b/digital/io-hub/src/robospierre/main.c @@ -47,6 +47,8 @@ #include "clamp.h" +#include "bot.h" + #include "io.h" /** Our color. */ @@ -93,7 +95,7 @@ main_event_to_fsm (void) #define FSM_HANDLE_TIMEOUT_E(fsm) \ do { if (FSM_HANDLE_TIMEOUT (fsm)) return; } while (0) /* Update FSM timeouts. */ - //FSM_HANDLE_TIMEOUT_E (AI); + FSM_HANDLE_TIMEOUT_E (AI); /* Motor status. */ asserv_status_e mimot_motor0_status, mimot_motor1_status; mimot_motor0_status = mimot_motor0_cmd_status (); @@ -184,6 +186,19 @@ proto_callback (uint8_t cmd, uint8_t size, uint8_t *args) * - 1b: position. */ clamp_move (args[0]); break; + case c ('c', 2): + /* Move element using clamp. + * - 1b: source. + * - 1b: destination. */ + clamp_move_element (args[0], args[1]); + break; + case c ('d', 0): + /* Open all doors. */ + pwm_set_timed (BOT_PWM_DOOR_FRONT_BOTTOM, BOT_PWM_DOOR_OPEN); + pwm_set_timed (BOT_PWM_DOOR_FRONT_TOP, BOT_PWM_DOOR_OPEN); + pwm_set_timed (BOT_PWM_DOOR_BACK_BOTTOM, BOT_PWM_DOOR_OPEN); + pwm_set_timed (BOT_PWM_DOOR_BACK_TOP, BOT_PWM_DOOR_OPEN); + break; /* Stats commands. * - b: interval between stats. */ case c ('A', 1): -- cgit v1.2.3