revised everything

1 files changed, 88 insertions, 0 deletions

diff --git a/src/sensor.c b/src/sensor.c
new file mode 100644
index 0000000..2725642
--- /dev/null
+++ b/src/sensor.c
@@ -0,0 +1,88 @@
+#include <main.h>
+
+/**
+ * Nowhere else to put this...?
+ */
+
+unsigned char MOTOR_USE_MAP[10] = {
+	0,0,0,0,0,0,0,0,0,0
+};
+
+int getIMEPort(unsigned int port){
+	switch(port){
+	case CANNON_LEFT  : return CANNON_LEFT_IME;
+	case CANNON_RIGHT : return CANNON_RIGHT_IME;
+	case LIFT_PUSHER  :
+	case INTAKE_1     :
+	case INTAKE_2     : return -1;
+	case DRIVE_RIGHT  : return DRIVE_RIGHT_IME;
+	case DRIVE_LEFT   : return DRIVE_LEFT_IME;
+	case LIFT_1       : return LIFT_1_IME;
+	case LIFT_2       : return LIFT_2_IME;
+	case LIFT_ROTATER : return LIFT_ROTATER_IME;
+	}
+	return -1;
+}
+
+int getIME(unsigned int port){
+	int ret;
+	imeGet(port,&ret);
+	return ret;
+}
+
+int getIMEVelocity(unsigned int port){
+	int ret;
+	imeGetVelocity(port,&ret);
+	return ret;
+}
+
+/**
+ * Actual sensor stuffs
+ */
+
+Sensor initSensor(uint32_t port,unsigned char type){
+	Sensor s;
+	s.type = type;
+	switch(s.type){
+	case DIGITAL:
+		pinMode(port,INPUT);
+		s.port = port;
+		//s.initial = digitalRead(port);
+		break;
+	case ANALOG:
+		pinMode(port + 13,INPUT_ANALOG);
+		s.port = port;
+		//s.initial = analogRead(port);
+		break;
+	case GYRO:
+		s.port = 0;
+		s.data.gyro = gyroInit(port,0);
+		//s.initial = gyroGet(s.data.gyro);
+		break;
+	case ULTRASONIC:
+		s.port = 0;
+		s.data.sonic = ultrasonicInit((uint16_t)port,port>>16);
+		//s.initial = ultrasonicGet(s.data.sonic);
+		break;
+	}
+	s.value = 0;
+	return s;
+}
+
+int readSensor(Sensor *s){
+	switch(s->type){
+	case DIGITAL:
+		return (s->value = digitalRead(s->port));
+		break;
+	case ANALOG:
+		return (s->value = analogRead(s->port));
+		break;
+	case GYRO:
+		return (s->value = gyroGet(s->data.gyro));
+		break;
+	case ULTRASONIC:
+		return (s->value = ultrasonicGet(s->data.sonic));
+		break;
+	}
+	return (s->value = -1);
+}