diff options
Diffstat (limited to 'robot/modes.c')
| -rw-r--r-- | robot/modes.c | 32 |
1 files changed, 25 insertions, 7 deletions
diff --git a/robot/modes.c b/robot/modes.c index 928e2b4..f73a809 100644 --- a/robot/modes.c +++ b/robot/modes.c @@ -4,13 +4,31 @@ #include "../shared/util.h" #include "sercomm.h" -/** function pointer to current mode */ -// static void (*g_w2_current_mode)() = &w2_mode_halt; - -static void (*g_w2_mode_history[W2_MODE_HISTORY_BUFFER_SIZE])(); -static uint8_t g_w2_mode_history_index = 0; +#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" + +w2_e_mode g_w2_mode_history[W2_MODE_HISTORY_BUFFER_SIZE]; +uint8_t g_w2_mode_history_index = 0; +void (*g_w2_modes[W2_MODE_COUNT])(); + +void w2_modes_init() { + g_w2_modes[W2_M_CHRG] = &w2_mode_chrg; + g_w2_modes[W2_M_DIRC] = &w2_mode_dirc; + g_w2_modes[W2_M_GRID] = &w2_mode_grid; + g_w2_modes[W2_M_HALT] = &w2_mode_halt; + g_w2_modes[W2_M_LCAL] = &w2_mode_lcal; + g_w2_modes[W2_M_MAZE] = &w2_mode_maze; + g_w2_modes[W2_M_SCAL] = &w2_mode_scal; + g_w2_modes[W2_M_SPIN] = &w2_mode_spin; +} -void w2_modes_main() { (*g_w2_mode_history[g_w2_mode_history_index])(); } +void w2_modes_main() { (*g_w2_modes[g_w2_mode_history[g_w2_mode_history_index]])(); } void w2_modes_switch(w2_e_mode new_mode, bool replace) { int16_t next_history_index = @@ -24,7 +42,7 @@ void w2_modes_switch(w2_e_mode new_mode, bool replace) { g_w2_mode_history_index = next_history_index; } else { g_w2_mode_history_index = next_history_index; - g_w2_mode_history[g_w2_mode_history_index] = W2_MODES[new_mode]; + g_w2_mode_history[g_w2_mode_history_index] = new_mode; } // forward mode change to sercomm |