libZEPHYR began

1 files changed, 192 insertions, 0 deletions

diff --git a/src/zephyr.c b/src/zephyr.c
new file mode 100644
index 0000000..847f95a
--- /dev/null
+++ b/src/zephyr.c
@@ -0,0 +1,192 @@
+#include <zephyr.h>
+#include <main.h>
+
+#include <string.h>
+
+#ifdef LCD_PORT
+
+static void (*_lcdUpdateFunc)(void *);
+static char lcdBuffer[2][16];
+
+void zLCDHandler(void *unused_param){
+	while(1){
+		lcdSetText(LCD_PORT,1,lcdBuffer[0]);
+		lcdSetText(LCD_PORT,2,lcdBuffer[1]);
+
+		if(_lcdUpdateFunc)
+			_lcdUpdateFunc(unused_param);
+
+		delay(LCD_RATE);
+	}
+}
+
+void zLCDInit(void){
+	lcdInit(LCD_PORT);
+	lcdClear(LCD_PORT);
+	lcdSetBacklight(LCD_PORT,true);
+}
+
+void zLCDStart(void){
+	taskCreate(zLCDHandler,
+			   TASK_DEFAULT_STACK_SIZE,
+			   NULL,
+			   TASK_PRIORITY_DEFAULT
+			   );
+
+	memset(&lcdBuffer,0,32);
+	strcpy(lcdBuffer[0]," libZEPHYR v1.0 ");
+}
+
+void zLCDWrite(unsigned char line,const char *text,...){
+	va_list args;
+	char buf[16];
+	va_start(args,text);
+	sprintf(buf,text,args);
+	va_end(args);
+	strcpy(lcdBuffer[line-1],buf);
+}
+
+void zLCDSetUpdateFunc(void (*func)(void *)){
+	_lcdUpdateFunc = func;
+}
+
+void zLCDClearUpdateFunc(void){
+	_lcdUpdateFunc = 0;
+}
+
+#endif // LCD_PORT
+
+#ifdef GYRO_PORT
+
+static Gyro gyro;
+static bool gyroEnabled = false;
+
+void zGyroInit(void){
+	if((gyro=gyroInit(2,0))){
+		gyroEnabled = true;
+	}
+}
+
+#endif // GYRO_PORT
+
+/*
+ *	A map of what's plugged into the motor ports.
+ *	Expected declarations:
+ *
+ *	DRIVEL	-	Left drive port
+ *	DRIVER	-	Right drive port
+ *
+*/
+
+#define MOTOR_PORT_COUNT	10
+
+#ifdef IME_ENABLE
+#define MOTOR_IME_COUNT		5
+#endif // IME_ENABLE
+
+const char *MOTOR_PORT_MAP[MOTOR_PORT_COUNT] = {
+	"UNUSED1",
+	"UNUSED2",
+	"UNUSED3",
+	"UNUSED4",
+	"INTAKE",
+	"DRIVER",
+	"DRIVEL",
+	"LIFT1",
+	"LIFT2",
+	"ROTATER"
+};
+
+#ifdef IME_ENABLE
+
+const char *MOTOR_IME_MAP[MOTOR_IME_COUNT] = {
+	"DRIVER",
+	"DRIVEL",
+	"ROTATER",
+	"LIFT1",
+	"LIFT2"
+};
+
+static unsigned int imeCount = 0;
+
+void zIMEInit(void){
+	imeCount = imeInitializeAll();
+}
+
+#endif // IME_ENABLE
+
+void zMotorSet(const char *motor,char speed){
+	for(unsigned char i=0;i<MOTOR_PORT_COUNT;i++){
+		if(!strcmp(MOTOR_PORT_MAP[i],motor)){
+			motorSet(i+1,speed);
+			return;
+		}
+	}
+}
+
+char zMotorGet(const char *motor){
+	for(unsigned char i=0;i<MOTOR_PORT_COUNT;i++){
+		if(!strcmp(MOTOR_PORT_MAP[i],motor)){
+			return motorGet(i+1);
+		}
+	}
+	return 0;
+}
+
+#ifdef IME_ENABLE
+
+int zMotorIMEGet(const char *motor){
+	int IMEValue = 0;
+	for(unsigned char i=0;i<imeCount;i++){
+		if(!strcmp(MOTOR_IME_MAP[i],motor)){
+			imeGet(i,&IMEValue);
+			break;
+		}
+	}
+	return IMEValue;
+}
+
+int zMotorIMEGetVelocity(const char *motor){
+	int IMEValue = 0;
+	for(unsigned char i=0;i<imeCount;i++){
+		if(!strcmp(MOTOR_IME_MAP[i],motor)){
+			imeGetVelocity(i,&IMEValue);
+			break;
+		}
+	}
+	return IMEValue;
+}
+
+#endif // IME_ENABLE
+
+void zDriveUpdate(void){
+
+#ifdef DRIVE_NORMAL
+	char s = joystickGetAnalog(DRIVE_JOY,DRIVE_NORMAL);
+
+	APPLY_THRESH(s,DRIVE_THRESHOLD);
+
+	motorSet(DRIVEL,s);
+	motorSet(DRIVER,s);
+
+#else
+
+	char l,r;
+
+	l = joystickGetAnalog(DRIVE_JOY,DRIVE_TANK_LEFT);
+	r = joystickGetAnalog(DRIVE_JOY,DRIVE_TANK_RIGHT);
+
+	APPLY_THRESH(l,DRIVE_THRESHOLD);
+	APPLY_THRESH(r,DRIVE_THRESHOLD);
+
+	zMotorSet("DRIVEL",l);
+	zMotorSet("DRIVER",r);
+
+#endif // DRIVE_NORMAL
+
+}
+
+char zGetDigitalMotorSpeed(unsigned char joy,unsigned char btn_group,unsigned char btn_pos,unsigned char btn_neg,char speed){
+	return joystickGetDigital(joy,btn_group,btn_pos) ?  speed :
+		   joystickGetDigital(joy,btn_group,btn_neg) ? -speed : 0;
+}