first real commit

author: Clyne Sullivan <tullivan99@gmail.com> 2015-10-30 14:30:46 -0400
committer: Clyne Sullivan <tullivan99@gmail.com> 2015-10-30 14:30:46 -0400
commit: 7afd68829c049cb61e4610836bda8adcf1f7ccee (patch)
tree: 649f9c7ed316ce1722c659c56fcc7810f5e89396
parent: f60fcd1bb7b1044a7da5f6ecff89289f091a2773 (diff)
9 files changed, 80 insertions, 314 deletions
diff --git a/.project b/.project
index 9c17656..d3a012f 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>VEX1516</name>
+	<name>VEX_1516</name>
 	<comment></comment>
 	<projects>
 	</projects>
diff --git a/README.md b/README.md
deleted file mode 100644
index 1b6f7c4..0000000
--- a/README.md
+++ /dev/null
@@ -1,2 +0,0 @@
-# vex5106z
-The Kennett Coders 5106z codebase for our fantastic robot that will win everything
diff --git a/include/5106z.h b/include/5106z.h
deleted file mode 100644
index 2f2f5c3..0000000
--- a/include/5106z.h
+++ /dev/null
@@ -1,121 +0,0 @@
-#ifndef _5106Z_H_
-#define _5106Z_H_
-
-#include <API.h>
-#include <stdint.h>
-#include <stdarg.h>
-
-/*
- *	motor_init - Initialize motors
- *
- *	`count` - The number of motors to enable
- *	`...`	- The port numbers of the motors to enable
- *
- *	Enables motors on the ports specified in the `...` arguments after
- *	`count`, which should say how many ports are currently being
- *	initialized. Motors not initialized now will be unusable until they
- *	are enabled.
- *
-*/
-void motor_init(uint8_t count,...);
-/*
- *	motor_initIMEs
- *
- *	Sets up IMEs for the motors that have them. This function expects the
- *	motors passed to it to be in order of how they are plugged in to the
- *	cortex. There is _no_ error checking, so... yeah.
- *
-*/
-void motor_initIMEs(uint8_t count,...);
-/*
- *	motor_imeReset
- *
- *	Resets the IME on the motor at port `port` if the motor was init'd
- *	using motor_initIMEs() and is enabled.
- *
-*/
-int  motor_imeReset(uint8_t port);
-/*
- *	motor_imeRead
- *
- *	Returns the IME reading of the port `port` if it was init'd using
- *	motor_initIMEs() and is enabled.
- *
-*/
-int  motor_imeRead(uint8_t port);
-/*
- *	motor_enable & motor_disable
- *
- *	`port`	- The port of the motor to enable/disable
- *
- *	These calls modify the `enable` bit of the motor. If a motor is disabled
- *	its speed will be set to 0 and rendered unchangeable until the motor is
- *	re-enabled. Any motor_* calls made to a disabled motor will immediately
- *	return -1.
- *
-*/
-void motor_enable(uint8_t port);
-void motor_disable(uint8_t port);
-/*
- *	motor_togglePolarity
- *
- *	`port`	- The port to toggle polarity on
- *
- *	Flips the polarity of the motor on port `port` if its enabled. When a
- *	motor's polarity is enabled the speed written to it is inverted as it
- *	is passed to motorSet(). For example, if a motor's speed is 127 and it's
- *	polarity is enabled, the speed passed to motorSet() is -127.
- *
-*/
-int motor_togglePolarity(uint8_t port);
-/*
- *	motor_setSpeed
- *
- *	`port`	- The port to set the speed of
- *	`speed`	- The speed to set the motor to
- *
- *	Sets the motor to the given speed, if it is enabled. Keep in mind that
- *	the change is not applied immediately, to apply the speeds you must
- *	call motor_applySpeeds().
- *
-*/
-int motor_setSpeed(uint8_t port,int8_t speed);
-/*
- *	motor_setSpeedSum
- *
- *	`port`	- The port to set the speed of
- *	`args`	- The number of arguments following this one
- *	`...`	- `args` variables to use for setting the speed
- *
- *	Functions the same as motor_setSpeed(), but sets the speed to the sum
- *	of the arguments passed after `args`.
- *
-*/
-int motor_setSpeedSum(uint8_t port,uint8_t args,...);
-/*
- *	TODO
- *
-*/
-int motor_setSpeedPointer(uint8_t port,int8_t *sp);
-/*
- *	motor_setThreshold
- *
- *	`port`		- The port to set the threshold of
- *	`threshold`	- The threshold to give the motor
- *
- *	Sets a threshold for the motor's speed. This means that when calls to
- *	set this motor's speed are made in the future, the speed will only be
- *	applied if it's greater than `threshold` or less than -`threshold`.
- *	Otherwise, the speed is set to 0.
- *
-*/
-int motor_setThreshold(uint8_t port,uint8_t threshold);
-/*
- *	motor_applySpeeds
- *
- *	Applys the speeds of the enabled motors to the actual motors.
- *
-*/
-int motor_applySpeeds(void);
-
-#endif // _5106Z_H_
diff --git a/include/main.h b/include/main.h
index 9b87513..ebe72a6 100644
--- a/include/main.h
+++ b/include/main.h
@@ -3,7 +3,7 @@
 
 #include <API.h>
 
-#define LCD_PORT uart2
+#define LCD_PORT uart1
 
 #define ANALOG_PORT(x) (x+13)
 
diff --git a/src/5106z.c b/src/5106z.c
deleted file mode 100644
index 83462ce..0000000
--- a/src/5106z.c
+++ /dev/null
@@ -1,105 +0,0 @@
-#include <5106z.h>
-#include <string.h>
-
-typedef struct {
-	 int8_t *speedP;
-	 int8_t  speed;
-	uint8_t  thresh;
-	uint8_t  polarity	:1;
-	uint8_t  enable		:1;
-	uint8_t  useptr		:1;
-	uint8_t  imeable	:3;
-} __attribute__ ((packed)) motor_t;
-
-static motor_t motor[11];
-
-void motor_init(uint8_t count,...){
-	va_list m;
-	uint8_t i;
-	memset(motor,0,11*sizeof(motor_t));
-	va_start(m,count);
-	for(i=0;i<count;i++){
-		motor[va_arg(m,int)].enable=true;
-	}
-	va_end(m);
-}
-
-void motor_initIMEs(uint8_t count,...){
-	va_list m;
-	uint8_t i;
-	va_start(m,count);
-	for(i=0;i<count;i++){
-		motor[va_arg(m,int)].imeable=i;
-	}
-	va_end(m);
-}
-
-int motor_imeReset(uint8_t port){
-	if(!motor[port].enable) return -1;
-	if(!motor[port].imeable)return -2;
-	imeReset(motor[port].imeable);
-	return 0;
-}
-
-int motor_imeRead(uint8_t port){
-	int imeValue;
-	if(!motor[port].enable) return -1;
-	if(!motor[port].imeable)return -2;
-	if(!imeGet(motor[port].imeable,&imeValue))return -3;
-	return imeValue;
-}
-
-void motor_enable(uint8_t port){
-	motor[port].enable=true;
-}
-
-void motor_disable(uint8_t port){
-	motor[port].enable=false;
-}
-
-int motor_togglePolarity(uint8_t port){
-	if(!motor[port].enable)return -1;
-	return (motor[port].polarity^=true);
-}
-
-int motor_setSpeed(uint8_t port,int8_t speed){
-	if(!motor[port].enable)return -1;
-	return (motor[port].speed=abs(speed)>motor[port].thresh?speed:0);
-}
-
-int motor_setSpeedSum(uint8_t port,uint8_t args,...){
-	va_list s;
-	uint8_t i;
-	int8_t speed=0;
-	if(!motor[port].enable)return -1;
-	va_start(s,args);
-	for(i=0;i<args;i++){
-		speed+=va_arg(s,int);
-	}
-	va_end(s);
-	return motor_setSpeed(port,speed);
-}
-
-int motor_setSpeedPointer(uint8_t port,int8_t *sp){
-	if(!motor[port].enable)return -1;
-	motor[port].useptr=true;
-	motor[port].speedP=sp;
-	return 0;
-}
-
-int motor_setThreshold(uint8_t port,uint8_t threshold){
-	if(!motor[port].enable)return -1;
-	return (motor[port].thresh=threshold);
-}
-
-int motor_applySpeeds(void){
-	uint8_t i;
-	for(i=0;i<10;i++){
-		if(motor[i].enable){
-			if(motor[i].useptr)
-				motor[i].speed=*motor[i].speedP;
-			motorSet(i,motor[i].speed*(motor[i].polarity?-1:1));
-		}
-	}
-	return 0;
-}
diff --git a/src/init.c b/src/init.c
index 24b5b50..e2145b4 100644
--- a/src/init.c
+++ b/src/init.c
@@ -1,5 +1,6 @@
 #include <main.h>
 
+Gyro gyro;
 unsigned int imeCount;
 
 void initializeIO(){
@@ -8,4 +9,8 @@ void initializeIO(){
 
 void initialize(){
 	imeCount = imeInitializeAll();
+	gyro=gyroInit(2,0);
+	lcdInit(uart1);
+	lcdClear(uart1);
+	lcdSetBacklight(uart1,1);
 }
diff --git a/src/opcontrol.c b/src/opcontrol.c
index 6a2adee..bd3118a 100644
--- a/src/opcontrol.c
+++ b/src/opcontrol.c
@@ -1,106 +1,102 @@
 #include <main.h>
+#include <stdint.h>
 #include <string.h>
-#include <5106z.h>
 
 enum MOTOR_PORT_MAP {
 	UNUSED = 0,
-	ROTATER,
-	DRIVEL,
-	DRIVER,
-	LIFT1,
-	LIFT2,
 	INTAKE1,
+	DRIVEL ,
+	DRIVER ,
+	LIFT1  ,
+	LIFT2  ,
+	UNUSED6,
 	INTAKE2,
 	INTAKE3,
 	INTAKE4,
-	PULLER,
+	ROTATER,
 };
 
-static int8_t joyx   = 0,	// Contains the left joystick's x position
-			  joyy   = 0,	// Contains the left joystick's y position
-			  lift   = 0,	// Contains the desired speed for the lift
-			  rotate = 0;	// Contains the desired speed for the lift's axis
+extern Gyro gyro;
+
+static   signed int ctty=0;
+const  unsigned int mtty=3;
 
-void shell(void *unused){
-	char *input=(char *)malloc(4*sizeof(char));
+void operatorLCD(void *unused){
 	while(1){
-		printf("debug@5106Z > ");
-		memset(input,0,4);
-		//fgets(input,4,stdin);
-		input[0]=fgetc(stdin);
-		printf("\n\r");
-		switch(input[0]){
-		case 'v':
-			input[2]=fgetc(stdin);
-			printf("\n\r");
-			if(input[2]=='m')
-				printf("Main voltage: %1.3f V\n\r",powerLevelMain()/1000.0f);
-			else if(input[2]=='e')
-				printf("Expander voltage: %1.3f V\n\r",analogRead(1)/70.0f);
+		switch(ctty){
+		default:
+		case 0:
+			lcdSetText(uart1,1,"   JOHN  CENA   ");
+			lcdSetText(uart1,2,"  ============  ");
 			break;
-		case 't':
-			printf("Test\n\r");
+		case 1:
+			lcdPrint(uart1,1,"MAIN: %0.3f",(float)(powerLevelMain()/1000.0f));
+			lcdPrint(uart1,2,"EXP : %0.3f",(float)(analogRead(1)   / 210.0f));
 			break;
+		case 2:
+			lcdPrint(uart1,1,"Gyro: %u",gyroGet(gyro));
 		}
+		delay(2000);
 	}
 }
 
 void operatorControl(){
 
-	motor_init(10,			// Initialize 6 motor ports
-			   ROTATER,
-			   DRIVEL,
-			   DRIVER,
-			   LIFT1,
-			   LIFT2,
-			   INTAKE1,
-			   INTAKE2,
-			   INTAKE3,
-			   INTAKE4,
-			   PULLER);
-
-	motor_togglePolarity(DRIVER );	// Flip the right drive motors
-	motor_togglePolarity(ROTATER);	// Flip the lift's rotation motor
-
-
+#define getJoy(n) joy[n-1]
 
-	motor_setSpeedPointer(LIFT1  ,&lift  );	// Always set the lift speed with `lift`
-	motor_setSpeedPointer(LIFT2  ,&lift  );	//
-	motor_setSpeedPointer(ROTATER,&rotate);	// Always set the lift's axis speed
-											// with `rotate`
+	static int8_t joy[8],
+				  lift   = 0,
+				  rotate = 0,
+				  intake = 0,
+				  uiinc = 0;
 
-	extern unsigned int imeCount;
-	motor_initIMEs(imeCount,
-				   DRIVER,
-				   DRIVEL,
-				   0,
-				   0,
-				   ROTATER);
-
-	// Launch the shell
-	taskCreate(shell,TASK_DEFAULT_STACK_SIZE,NULL,TASK_PRIORITY_DEFAULT);
+	// Start the LCD task
+	taskCreate(operatorLCD,TASK_DEFAULT_STACK_SIZE,NULL,TASK_PRIORITY_DEFAULT);
 
 	while(1){
 
-		digitalWrite(1,lcdReadButtons(LCD_PORT));
-
-		joyx   = joystickGetAnalog(1,4);	// Get joystick positions
-		joyy   = joystickGetAnalog(1,3);	//
-		lift   = joystickGetAnalog(1,2);	//
-		rotate = joystickGetAnalog(1,1);	//
-
-		motor_setSpeedSum(DRIVEL,2,joyy, joyx);	// Set drive speeds
-		motor_setSpeedSum(DRIVER,2,joyy,-joyx);	//
-
-		static char huh;
-		huh=joystickGetDigital(1,8,JOY_UP)?127:joystickGetDigital(1,8,JOY_DOWN)?-127:0;
-		motor_setSpeed(INTAKE1,huh);
-		motor_setSpeed(INTAKE2,huh);
-		motor_setSpeed(INTAKE3,huh);
-		motor_setSpeed(INTAKE4,huh);
-
-		motor_setSpeed(PULLER,joystickGetDigital(1,7,JOY_UP)?127:joystickGetDigital(1,7,JOY_DOWN)?-127:0);
+		joy[0]=joystickGetAnalog(1,1);
+		joy[1]=joystickGetAnalog(1,2);
+		joy[2]=joystickGetAnalog(1,3);
+		joy[3]=joystickGetAnalog(1,4);
+		joy[4]=joystickGetAnalog(2,1);
+		joy[5]=joystickGetAnalog(2,2);
+		joy[6]=joystickGetAnalog(2,3);
+		joy[7]=joystickGetAnalog(2,4);
+
+		intake = getJoy(7);
+		rotate =-getJoy(5);
+		lift   = joystickGetDigital(2,6,JOY_UP  ) ?  127 :
+				 joystickGetDigital(2,6,JOY_DOWN) ? -127 :
+				 0;
+
+		motorSet(INTAKE1,intake);
+		motorSet(INTAKE2,intake);
+		motorSet(INTAKE3,intake);
+		motorSet(INTAKE4,intake);
+		motorSet(ROTATER,rotate);
+		motorSet(LIFT1,lift);
+		motorSet(LIFT2,lift);
+
+		motorSet(DRIVEL,-getJoy(2));
+		motorSet(DRIVER, getJoy(3));
+
+		/*motorSet(PULLER,joystickGetDigital(2,6,JOY_UP  ) ?  127 :
+						joystickGetDigital(2,6,JOY_DOWN) ? -127 :
+						0);*/
+
+		if(++uiinc==20){
+			uiinc=0;
+			if(joystickGetDigital(1,7,JOY_UP) ||
+			   joystickGetDigital(2,7,JOY_UP) ){
+				if(++ctty==mtty)ctty=0;
+			}
+	   else if(joystickGetDigital(1,7,JOY_DOWN) ||
+			   joystickGetDigital(2,7,JOY_DOWN) ){
+				if(--ctty==-1)ctty=mtty-1;
+			}
+		}
 
-		motor_applySpeeds();	// Apply the motor speeds
+		delay(10);
 	}
 }
diff --git a/src/robot.cpp b/src/robot.cpp
deleted file mode 100644
index 82c45cd..0000000
--- a/src/robot.cpp
+++ /dev/null
@@ -1 +0,0 @@
-#include <robot.h>
diff --git a/src/robot.h b/src/robot.h
deleted file mode 100644
index f8887da..0000000
--- a/src/robot.h
+++ /dev/null
@@ -1,6 +0,0 @@
-#ifndef ROBOT_H_
-#define ROBOT_H_
-
-#include <API.h>
-
-#endif /* ROBOT_H_ */
author	Clyne Sullivan <tullivan99@gmail.com>	2015-10-30 14:30:46 -0400
committer	Clyne Sullivan <tullivan99@gmail.com>	2015-10-30 14:30:46 -0400
commit	7afd68829c049cb61e4610836bda8adcf1f7ccee (patch)
tree	649f9c7ed316ce1722c659c56fcc7810f5e89396
parent	f60fcd1bb7b1044a7da5f6ecff89289f091a2773 (diff)