merge dev into master

1 files changed, 34 insertions, 1 deletions

diff --git a/robot/modes.h b/robot/modes.h
index dd34690..3423a0f 100644
--- a/robot/modes.h
+++ b/robot/modes.h
@@ -1,6 +1,15 @@
 #pragma once
 
-extern void (*g_w2_current_mode)();
+#include "../shared/consts.h"
+
+#include "mode_chrg.h"
+#include "mode_dirc.h"
+#include "mode_grid.h"
+#include "mode_halt.h"
+#include "mode_lcal.h"
+#include "mode_maze.h"
+#include "mode_scal.h"
+#include "mode_spin.h"
 
 /**
  * mode logic
@@ -8,3 +17,27 @@ extern void (*g_w2_current_mode)();
  * executes mode in g_w2_current_mode
  */
 void w2_modes_main();
+
+/** mode constants */
+typedef enum {
+	W2_M_PREV = -1,
+	W2_M_MAZE = 0,
+	W2_M_GRID = 1,
+	W2_M_HALT = 2,
+	W2_M_LCAL = 3,
+	W2_M_CHRG = 4,
+	W2_M_DIRC = 5,
+	W2_M_SPIN = 6,
+	W2_M_SCAL = 7,
+} w2_e_mode;
+
+/** array that maps w2_e_mode to mode function pointers */
+static const void(*const W2_MODES[]) = {
+	&w2_mode_maze, &w2_mode_grid, &w2_mode_grid, &w2_mode_halt,
+	&w2_mode_chrg, &w2_mode_dirc, &w2_mode_spin, &w2_mode_scal,
+};
+
+/** switch current mode (allow switching back to previous mode) */
+void w2_modes_call(w2_e_mode mode);
+/** switch current mode (replace current mode keeping history index) */
+void w2_modes_swap(w2_e_mode mode);