implement mode command

1 files changed, 30 insertions, 0 deletions

diff --git a/robot/modes.h b/robot/modes.h
index dd34690..fe81043 100644
--- a/robot/modes.h
+++ b/robot/modes.h
@@ -1,5 +1,11 @@
 #pragma once
 
+#include "mode_grid.h"
+#include "mode_halt.h"
+#include "mode_lcal.h"
+#include "mode_maze.h"
+
+/** function pointer to current mode */
 extern void (*g_w2_current_mode)();
 
 /**
@@ -8,3 +14,27 @@ 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,
+};
+
+/** switch the current mode */
+void w2_modes_switch(w2_e_mode new_mode);