boolean processPIDCrit(BowlerPacket * Packet){
uint8_t i=0;
switch (Packet->use.head.RPC){
case KPID:
for(i=0;i<getNumberOfPidChannels();i++){
getPidGroupDataTable(i)->config.Enabled = true;
setOutput(i,0.0);
getPidGroupDataTable(i)->config.Enabled = false;
getPidVelocityDataTable(i)->enabled=false;
getPidGroupDataTable(i)->Output=0.0;
}
READY(Packet,zone,0);
break;
case CPID:
if(ConfigPID(Packet)){
READY(Packet,zone,1);
}else
ERR(Packet,zone,1);
break;
case CPDV:
if(ConfigPDVelovity(Packet)){
READY(Packet,zone,1);
}else
ERR(Packet,zone,1);
break;
default:
return false;
}
return true;
}
/*! process command
*
* \return A value : braitenberg end mode
* - 0 if success
* - <0 if any error
*/
int process_command ()
{
char Buffer[MAXBUFFERSIZE];
int narg;
int out=0;
string larg[MAX_ARG];
char *bptr;
// receive and interpret commands (wait)
if ( readLine(Buffer) >0 )
{
#ifdef DEBUG
printf("%c length %d |%s|",Buffer[0],strlen(Buffer),Buffer);
#endif
if (strlen(Buffer)>2)
{
/* Process all the args */
bptr = Buffer + 2;
narg=getArgs(bptr,larg);
}
switch(Buffer[0])
{
case 'A':
out=braitenberg(narg,larg);
break;
case 'B':
revisionOS(narg,larg);
break;
case 'C':
configureOS(narg,larg);
break;
case 'D':
SetSpeed(narg,larg);
break;
case 'E':
GetSpeed(narg,larg);
break;
case 'F':
SetTargetProfile(narg,larg);
break;
case 'G':
GetUS(narg,larg);
break;
case 'H':
ConfigPID(narg,larg);
break;
case 'I':
SetEncPosition(narg,larg);
break;
case 'J':
ConfigSpeedProfile(narg,larg);
break;
case 'K':
SetLED(narg,larg);
break;
case 'L':
SetSpeedOpenLoop(narg,larg);
break;
case 'M':
InitMot(narg,larg);
break;
case 'N':
ReadProxSensors(narg,larg);
break;
case 'O':
ReadAmbSensors(narg,larg);
break;
case 'P':
SetTargetPosition(narg,larg);
break;
case 'R':
ReadPos(narg,larg);
break;
case 'V':
batStatus(narg,larg);
break;
case 'X':
BinaryRead(narg,larg);
break;
case 'Z':
tstampRST(narg,larg);
break;
default:
sprintf(Buffer,"%c\r\n",ERROR_CMD_CHAR);
com_send(Buffer, strlen(Buffer));
}
}
return out;
}
