static void RemoteTask (void *pvParameters) {
(void)pvParameters;
#if PL_CONFIG_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
for(;;) {
if (REMOTE_isOn) {
#if PL_CONFIG_HAS_JOYSTICK
if (REMOTE_useJoystick) {
uint8_t buf[2];
int16_t x, y;
int8_t x8, y8;
/* send periodically messages */
APP_GetXY(&x, &y, &x8, &y8);
buf[0] = x8;
buf[1] = y8;
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
FRTOS1_vTaskDelay(200/portTICK_PERIOD_MS);
} else {
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
}
} /* for */
}
static void StatusPrintXY(CLS1_ConstStdIOType *io) {
uint16_t x, y;
int8_t x8, y8;
uint8_t buf[64];
if (APP_GetXY(&x, &y, &x8, &y8)==ERR_OK) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"X: 0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), x);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"(");
UTIL1_strcatNum8s(buf, sizeof(buf), x8);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)") Y: 0x");
UTIL1_strcatNum16Hex(buf, sizeof(buf), y);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"(");
UTIL1_strcatNum8s(buf, sizeof(buf), y8);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)")\r\n");
} else {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"GetXY() failed!\r\n");
}
CLS1_SendStatusStr((unsigned char*)" analog", buf, io->stdOut);
}
uint8_t REMOTE_HandleRemoteRxMessage(RAPP_MSG_Type type, uint8_t size, uint8_t *data, RNWK_ShortAddrType srcAddr, bool *handled, RPHY_PacketDesc *packet) {
#if PL_CONFIG_HAS_SHELL
uint8_t buf[48];
#endif
uint8_t val;
int16_t x, y, z;
(void)size;
(void)packet;
switch(type) {
#if PL_CONFIG_HAS_MOTOR
case RAPP_MSG_TYPE_JOYSTICK_XY: /* values are -128...127 */
{
int8_t x, y;
int16_t x1000, y1000;
*handled = TRUE;
x = *data; /* get x data value */
y = *(data+1); /* get y data value */
if (REMOTE_isVerbose) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"x/y: ");
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)x);
UTIL1_chcat(buf, sizeof(buf), ',');
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)y);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
SHELL_SendString(buf);
}
#if 0 /* using shell command */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor L duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(x));
SHELL_ParseCmd(buf);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor R duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(y));
SHELL_ParseCmd(buf);
#endif
/* filter noise around zero */
if (x>-5 && x<5) {
x = 0;
}
if (y>-5 && y<5) {
y = 0;
}
x1000 = scaleJoystickTo1K(x);
y1000 = scaleJoystickTo1K(y);
if (REMOTE_useJoystick) {
REMOTE_HandleMotorMsg(y1000, x1000, 0); /* first param is forward/backward speed, second param is direction */
}
}
break;
#endif
case RAPP_MSG_TYPE_JOYSTICK_BTN:
*handled = TRUE;
val = *data; /* get data value */
#if PL_CONFIG_HAS_SHELL && PL_CONFIG_HAS_BUZZER && PL_CONFIG_HAS_REMOTE
if (val=='F') { /* F button, toggle remote*/
SHELL_ParseCmd((unsigned char*)"buzzer buz 300 500");
DRV_SetMode(DRV_MODE_SPEED);
} else if (val=='G') { /* center joystick button: horn*/
SHELL_ParseCmd((unsigned char*)"buzzer buz 2000 300");
} else if (val=='A')
{
MAZE_ClearSolution();
MAZE_SetSolveAlgorithm(STRAIGHT_HAND);
LF_StartFollowing();
} else if (val=='C') { /* 'C' button: motor stop*/
DRV_SetMode(DRV_MODE_STOP);
} else if (val=='B') { /* 'B' button: start right-hand algorithm */
MAZE_ClearSolution();
MAZE_SetSolveAlgorithm(RIGHT_HAND);
LF_StartFollowing();
} else if (val=='D') { /* 'D' button: start left-hand algorithm */
MAZE_ClearSolution();
MAZE_SetSolveAlgorithm(LEFT_HAND);
LF_StartFollowing();
} else if (val=='E') {
REF_CalibrateStartStop();
}
#else
*handled = FALSE; /* no shell and no buzzer? */
#endif
break;
default:
break;
} /* switch */
return ERR_OK;
}
static portTASK_FUNCTION(RemoteTask, pvParameters) {
#if PL_HAS_WATCHDOG
int i;
#endif
(void)pvParameters;
#if PL_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
for(;;) {
if (REMOTE_isOn) {
#if PL_HAS_ACCEL
if (REMOTE_useAccelerometer) {
#if PL_HAS_KEYS
uint8_t buf[7];
uint8_t keys;
#else /* PL_HAS_KEYS */
uint8_t buf[6];
#endif /* PL_HAS_KEYS */
int16_t x, y, z;
/* send periodically accelerometer messages */
#if PL_HAS_KEYS
APP_GetKeys(&keys);
#endif /* PL_HAS_KEYS */
ACCEL_GetValues(&x, &y, &z);
buf[0] = (uint8_t)(x&0xFF);
buf[1] = (uint8_t)(x>>8);
buf[2] = (uint8_t)(y&0xFF);
buf[3] = (uint8_t)(y>>8);
buf[4] = (uint8_t)(z&0xFF);
buf[5] = (uint8_t)(z>>8);
#if PL_HAS_KEYS
buf[6] = keys;
#endif /* PL_HAS_KEYS */
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), x);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), y);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" z: ");
UTIL1_strcatNum16s(txtBuf, sizeof(txtBuf), z);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_ACCEL, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
#if PL_HAS_JOYSTICK
if (REMOTE_useJoystick) {
#if PL_HAS_KEYS
uint8_t buf[3];
uint8_t keys;
#else /* PL_HAS_KEYS */
uint8_t buf[2];
#endif /* PL_HAS_KEYS */
int16_t x, y;
int8_t x8, y8;
/* send periodically accelerometer messages */
#if PL_HAS_KEYS
APP_GetKeys(&keys);
#endif /* PL_HAS_KEYS */
APP_GetXY(&x, &y, &x8, &y8);
buf[0] = x8;
buf[1] = y8;
#if PL_HAS_KEYS
buf[2] = keys;
#endif /* PL_HAS_KEYS */
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
#if PL_HAS_WATCHDOG
for(i=0; i<2; i++) { /* do it in smaller steps */
WDT_IncTaskCntr(WDT_TASK_ID_REMOTE, 100);
FRTOS1_vTaskDelay(100/portTICK_RATE_MS);
}
#else
FRTOS1_vTaskDelay(200/portTICK_RATE_MS);
#endif
} else {
#if PL_HAS_WATCHDOG
for(i=0; i<10; i++) { /* do it in smaller steps */
WDT_IncTaskCntr(WDT_TASK_ID_REMOTE, 100);
FRTOS1_vTaskDelay(100/portTICK_RATE_MS);
}
#else
FRTOS1_vTaskDelay(1000/portTICK_RATE_MS);
#endif
}
} /* for */
uint8_t REMOTE_HandleRemoteRxMessage(RAPP_MSG_Type type, uint8_t size, uint8_t *data, RNWK_ShortAddrType srcAddr, bool *handled, RPHY_PacketDesc *packet) {
#if PL_CONFIG_HAS_SHELL
uint8_t buf[48];
#endif
uint8_t val;
int16_t x, y, z;
(void)size;
(void)packet;
switch(type) {
#if PL_CONFIG_HAS_MOTOR
case RAPP_MSG_TYPE_JOYSTICK_XY: /* values are -128...127 */
{
int8_t direction, speed;
int16_t x1000, y1000;
*handled = TRUE;
direction = *data; /* get x data value */
speed = *(data+1); /* get y data value */
if (REMOTE_isVerbose) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"d/s: ");
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)direction);
UTIL1_chcat(buf, sizeof(buf), ',');
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)speed);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
SHELL_SendString(buf);
}
#if 0 /* using shell command */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor L duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(x));
SHELL_ParseCmd(buf);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor R duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(y));
SHELL_ParseCmd(buf);
#endif
//x1000 = scaleJoystickTo1K(x);
//y1000 = scaleJoystickTo1K(y);
if (REMOTE_useJoystick) {
REMOTE_HandleMotorMsg(direction, speed, 0); /* first param is forward/backward speed, second param is direction */
}
}
break;
#endif
case RAPP_MSG_TYPE_JOYSTICK_BTN:
*handled = TRUE;
val = *data; /* get data value */
#if PL_CONFIG_HAS_SHELL && PL_CONFIG_HAS_BUZZER && PL_CONFIG_HAS_REMOTE
if (val=='F') { /* F button, disable remote */
SHELL_ParseCmd((unsigned char*)"buzzer buz 300 500");
REMOTE_SetOnOff(FALSE);
DRV_SetSpeed(0,0); /* turn off motors */
SHELL_SendString("Remote OFF\r\n");
} else if (val=='G') { /* center joystick button: enable remote */
SHELL_ParseCmd((unsigned char*)"buzzer buz 300 1000");
REMOTE_SetOnOff(TRUE);
DRV_SetMode(DRV_MODE_SPEED);
SHELL_SendString("Remote ON\r\n");
} else if (val=='C') { /* red 'C' button */
/*! \todo add functionality */
} else if (val=='A') { /* green 'A' button */
/*! \todo add functionality */
}
#else
*handled = FALSE; /* no shell and no buzzer? */
#endif
break;
default:
break;
} /* switch */
return ERR_OK;
}
static void RemoteTask (void *pvParameters) {
(void)pvParameters;
#if PL_CONFIG_HAS_JOYSTICK
(void)APP_GetXY(&midPointX, &midPointY, NULL, NULL);
#endif
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
for(;;) {
if (REMOTE_isOn) {
#if PL_CONFIG_HAS_JOYSTICK
if (REMOTE_useJoystick) {
uint8_t buf[2];
int16_t x, y;
int8_t x8, y8;
/* send periodically messages */
APP_GetXY(&x, &y, &x8, &y8);
if(x8 > 100)
buf[0] = 1;
else if(x8 < -100)
buf[0] = 2;
else
buf[0] = 0;
//buf[0] = x8;
if(normalSpeedPressed) {
if(fastSpeedPressed) {
buf[1] = 2; // fast speed
} else {
buf[1] = 1; // normal speed
}
} else if (retourSpeedPressed) {
buf[1] = 3; // retour
} else {
buf[1] = 0; // stand
}
if(startLineFollow == 1) {
buf[1] = 4; // left handed
startLineFollow = 0;
}
if(startLineFollow == 2) {
buf[1] = 5; // right handed
startLineFollow = 0;
}
//buf[1] = y8;
if (REMOTE_isVerbose) {
uint8_t txtBuf[48];
UTIL1_strcpy(txtBuf, sizeof(txtBuf), (unsigned char*)"TX: x: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), x8);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" y: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), y8);
//UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" to addr 0x");
#if RNWK_SHORT_ADDR_SIZE==1
//UTIL1_strcatNum8Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#else
//UTIL1_strcatNum16Hex(txtBuf, sizeof(txtBuf), RNETA_GetDestAddr());
#endif
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" 0/R/L: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), buf[0]);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)" 0/N/F/R: ");
UTIL1_strcatNum8s(txtBuf, sizeof(txtBuf), buf[1]);
UTIL1_strcat(txtBuf, sizeof(txtBuf), (unsigned char*)"\r\n");
SHELL_SendString(txtBuf);
}
(void)RAPP_SendPayloadDataBlock(buf, sizeof(buf), RAPP_MSG_TYPE_JOYSTICK_XY, RNETA_GetDestAddr(), RPHY_PACKET_FLAGS_REQ_ACK);
LED1_Neg();
}
#endif
FRTOS1_vTaskDelay(20/portTICK_PERIOD_MS);
} else {
FRTOS1_vTaskDelay(1000/portTICK_PERIOD_MS);
}
} /* for */
}
uint8_t REMOTE_HandleRemoteRxMessage(RAPP_MSG_Type type, uint8_t size, uint8_t *data, RNWK_ShortAddrType srcAddr, bool *handled, RPHY_PacketDesc *packet) {
#if PL_CONFIG_HAS_SHELL
uint8_t buf[48];
#endif
uint8_t val;
int16_t x, y, z;
(void)size;
(void)packet;
switch(type) {
#if PL_CONFIG_HAS_MOTOR
case RAPP_MSG_TYPE_JOYSTICK_XY: /* values are -128...127 */
{
int8_t x, y;
int16_t x1000, y1000;
*handled = TRUE;
x = *data; /* get x data value */
y = *(data+1); /* get y data value */
if (REMOTE_isVerbose) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"x/y: ");
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)x);
UTIL1_chcat(buf, sizeof(buf), ',');
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)y);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
SHELL_SendString(buf);
}
#if 0 /* using shell command */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor L duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(x));
SHELL_ParseCmd(buf);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor R duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(y));
SHELL_ParseCmd(buf);
#endif
/* filter noise around zero */
if (x>-5 && x<5) {
x = 0;
}
if (y>-15 && y<5) {
y = 0;
}
x1000 = scaleJoystickTo1K(x);
y1000 = scaleJoystickTo1K(y);
if (REMOTE_useJoystick) {
REMOTE_HandleMotorMsg(y1000, x1000, 0); /* first param is forward/backward speed, second param is direction */
}
}
break;
#endif
case RAPP_MSG_TYPE_JOYSTICK_BTN:
*handled = TRUE;
val = *data; /* get data value */
#if PL_CONFIG_HAS_SHELL && PL_CONFIG_HAS_BUZZER && PL_CONFIG_HAS_REMOTE
if (val=='F') { /* F button - disable remote, drive mode none */
DRV_SetMode(DRV_MODE_NONE);
REMOTE_SetOnOff(FALSE);
SHELL_SendString("Remote OFF\r\n");
} else if (val=='G') { /* center joystick button: enable remote */
REMOTE_SetOnOff(TRUE);
#if PL_CONFIG_HAS_DRIVE
DRV_SetMode(DRV_MODE_SPEED);
#endif
SHELL_SendString("Remote ON\r\n");
}
#if PL_CONFIG_HAS_LINE_MAZE
else if (val=='A') { /* green 'A' button */
SHELL_SendString("Button A pressed\r\n");
// Start Maze solving
if(!LF_IsFollowing()){
LF_StartFollowing();
}
} else if (val=='K') { /* green A button longpress -> 'K' */
SHELL_SendString("Clear Maze\r\n");
// Clear old maze solution, ready for restart
MAZE_ClearSolution();
} else if (val =='B'){ /* yellow 'B' button */
SHELL_SendString("Right hand rule!\r\n");
LF_SetRule(FALSE);
} else if (val=='E') { /* button 'E' pressed */
SHELL_SendString("Stop Following! \r\n");
if(LF_IsFollowing()){
LF_StopFollowing();
}
} else if (val=='D') { /* blue 'D' button */
SHELL_SendString("Left hand rule!\r\n");
LF_SetRule(TRUE);
}
#endif
else if (val=='C') { /* red 'C' button */
NITRO = TRUE;
SHELL_SendString("Nitrooooooo!!!\r\n");
BUZ_Beep(1000,1000);
} else if (val=='J') { /* button 'C' released */
NITRO = FALSE;
SHELL_SendString("Stop Nitro \r\n");
}
#else
*handled = FALSE; /* no shell and no buzzer? */
#endif
break;
default:
break;
} /* switch */
return ERR_OK;
}
uint8_t REMOTE_HandleRemoteRxMessage(RAPP_MSG_Type type, uint8_t size, uint8_t *data, RNWK_ShortAddrType srcAddr, bool *handled, RPHY_PacketDesc *packet) {
#if PL_CONFIG_HAS_SHELL
uint8_t buf[48];
#endif
KEY_DATA val;
int16_t x, y, z;
(void)size;
(void)packet;
switch(type) {
#if PL_CONFIG_HAS_MOTOR
case RAPP_MSG_TYPE_JOYSTICK_XY: /* values are -128...127 */
{
int8_t x, y;
int16_t x1000, y1000;
*handled = TRUE;
x = *data; /* get x data value */
y = *(data+1); /* get y data value */
if (REMOTE_isVerbose) {
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"x/y: ");
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)x);
UTIL1_chcat(buf, sizeof(buf), ',');
UTIL1_strcatNum8s(buf, sizeof(buf), (int8_t)y);
UTIL1_strcat(buf, sizeof(buf), (unsigned char*)"\r\n");
SHELL_SendString(buf);
}
#if 0 /* using shell command */
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor L duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(x));
SHELL_ParseCmd(buf);
UTIL1_strcpy(buf, sizeof(buf), (unsigned char*)"motor R duty ");
UTIL1_strcatNum8s(buf, sizeof(buf), scaleSpeedToPercent(y));
SHELL_ParseCmd(buf);
#endif
/* filter noise around zero */
if (x>-5 && x<5) {
x = 0;
}
if (y>-5 && y<5) {
y = 0;
}
x1000 = scaleJoystickTo1K(x);
y1000 = scaleJoystickTo1K(y);
if (REMOTE_useJoystick) {
REMOTE_HandleMotorMsg(y1000, x1000, 0); /* first param is forward/backward speed, second param is direction */
}
}
break;
#endif
case RAPP_MSG_TYPE_JOYSTICK_BTN:
*handled = TRUE;
val = *data; /* get data value */
#if PL_CONFIG_HAS_SHELL && PL_CONFIG_HAS_BUZZER && PL_CONFIG_HAS_REMOTE
switch(val) {
case A_p:
SHELL_ParseCmd((unsigned char*)"buzzer play tune");
break;
case A_lp:
nitro = TRUE;
break;
case A_r:
nitro = FALSE;
break;
case B_p:
SHELL_ParseCmd((unsigned char*)"line start");
break;
case B_lp:
break;
case B_r:
break;
case C_p:
break;
case C_lp:
break;
case C_r:
break;
case D_p:
SHELL_ParseCmd((unsigned char*)"line stop");
SHELL_ParseCmd((unsigned char*)"drive mode speed");
break;
case D_lp:
break;
case D_r:
break;
case E_p:
SHELL_ParseCmd((unsigned char*)"line righthand");
break;
case E_lp:
break;
case E_r:
break;
case F_p:
SHELL_ParseCmd((unsigned char*)"line lefthand");
break;
case F_lp:
break;
case F_r:
break;
case G_p:
break;
case G_lp:
break;
case G_r:
break;
default:
SHELL_ParseCmd((unsigned char*)"buzzer buz 300 1000");
break;
}
#else
*handled = FALSE; /* no shell and no buzzer? */
#endif
break;
default:
break;
} /* switch */
return ERR_OK;
}